樹莓派ubuntu mate16.04安裝ROS-Kinetic和Turtlebot2

PS：首先附上參考文章的連結-樹莓派ubuntu mate或其他ubuntu16.04安裝ROS(Kinetic)。
前面的安裝ROS-Kinetic步驟完全一致，步驟1~7摘抄在下面。

1.新增源

中科大源：

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

2.增加key

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

3.更新

sudo apt-get update

sudo apt-get upgrade

4.安裝

sudo apt-get install ros-kinetic-desktop-full

5.rosdep

sudo rosdep init

rosdep update

6.設定全域性環境

echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc

source ~/.bashrc

7.安裝依賴

sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential

到此，ROS-Kinetic安裝完畢，下面安裝Turtlebot2依賴項以及測試：

8.安裝Turtlebot2依賴項

sudo apt-get install ros-kinetic-turtlebot ros-kinetic-turtlebot-actions ros-kinetic-turtlebot-apps ros-kinetic-turtlebot-bringup ros-kinetic-turtlebot-calibration ros-kinetic-turtlebot-capabilities ros-kinetic-turtlebot-create ros-kinetic-turtlebot-dashboard ros-kinetic-turtlebot-description ros-kinetic-turtlebot-follower ros-kinetic-turtlebot-gazebo ros-kinetic-turtlebot-interactions ros-kinetic-turtlebot-interactive-markers ros-kinetic-turtlebot-loadout-kha1 ros-kinetic-turtlebot-msgs ros-kinetic-turtlebot-navigation ros-kinetic-turtlebot-rapps ros-kinetic-turtlebot-rviz-launchers ros-kinetic-turtlebot-simulator ros-kinetic-turtlebot-stage ros-kinetic-turtlebot-stdr

9.turtlebot2測試

首先，將電腦和turtlebot用連線線連線，開啟turtlebot的開關。
開啟一個終端輸入：

roslaunch turtlebot_bringup minimal.launch 

再開啟一個終端，輸入：

roslaunch turtlebot_teleop keyboard_teleop.launch

然後在此終端便可以控制turtlebot的運動，控制方向的按鍵有

u：向左前行駛	i：向前行駛	u：向右前行駛
j：原地向左轉向		l：原地向右轉向
m：向左後行駛	，：向後行駛	。：向右後行駛