TX1入门教程软件篇-安装Turtlebot
说明：
介绍如何在TX1上安装Turtlebot
Kinetic版本没有完全合适的二进制包，进入二进制安装会有一些包无法安装的，这里采用源码方式安装。
turtlebot源码安装
安装准备
安装好kinetic，参考教程
安装依赖和更新：
$ sudo apt-get install python-rosdep python-wstool $ sudo rosdep init $ rosdep update
分别建立三个工作空间rocon，kobuki，turtlebot，下载和编译源码
建立rocon目录，下载和编译，rocon都有对应的kinetic版本
$ mkdir ~/rocon $ cd ~/rocon $ wstool init -j5 src https://raw.github.com/robotics-in-concert/rocon/release/kinetic/rocon.rosinstall $ source /opt/ros/kinetic/setup.bash $ rosdep install --from-paths src -i -y $ catkin_make
如果wstool更新失败，可以重新更新：
$ wstool update -t src
建立kobuki目录，下载和编译.
kobuki使用kinetic的版本下载会失败，先用indigo版本生成下载的rosinstall文件，再修改对应包为kinetic版本
$ mkdir ~/kobuki $ cd ~/kobuki $ wget https://raw.github.com/yujinrobot/yujin_tools/master/rosinstalls/indigo/kobuki.rosinstall $ vim kobuki.rosinstall #参照kobuki.rosinstall文件内容，修改后在进行。 $ wstool init src -j5 kobuki.rosinstall $ source ~/rocon/devel/setup.bash $ rosdep install --from-paths src -i -y $ catkin_make
kobuki.rosinstall 文件为：
# THIS IS AN AUTOGENERATED FILE, LAST GENERATED USING wstool ON 2016-12-08 - git: local-name: kobuki uri: https://github.com/yujinrobot/kobuki.git version: kinetic - git: local-name: kobuki_core uri: https://github.com/yujinrobot/kobuki_core.git version: kinetic - git: local-name: kobuki_desktop uri: https://github.com/yujinrobot/kobuki_desktop.git version: kinetic - git: local-name: kobuki_msgs uri: https://github.com/yujinrobot/kobuki_msgs.git version: kinetic - git: local-name: yocs_msgs uri: https://github.com/yujinrobot/yocs_msgs.git version: release/0.6-kinetic - git: local-name: yujin_ocs uri: https://github.com/yujinrobot/yujin_ocs.git version: kinetic
建立turtlebot目录，下载和编译.
turtlebot使用kinetic的版本下载会失败，先用indigo版本生成下载的rosinstall文件，再修改对应包为kinetic版本，没有kinetic版本的保持为indigo版本
$ mkdir ~/turtlebot $ cd ~/turtlebot $ wget https://raw.github.com/yujinrobot/yujin_tools/master/rosinstalls/indigo/turtlebot.rosinstall $ vim turtlebot.rosinstall #参照turtlebot.rosinstall文件内容，修改后在进行。 $ wstool init src -j5 turtlebot.rosinstall $ source ~/kobuki/devel/setup.bash $ rosdep install --from-paths src -i -y $ catkin_make
turtlebot.rosinstall文件内容:
# THIS IS AN AUTOGENERATED FILE, LAST GENERATED USING wstool ON 2016-12-08 - git: local-name: turtlebot uri: https://github.com/turtlebot/turtlebot.git version: kinetic - git: local-name: turtlebot_apps uri: https://github.com/turtlebot/turtlebot_apps.git version: indigo - git: local-name: turtlebot_create uri: https://github.com/turtlebot/turtlebot_create.git version: indigo - git: local-name: turtlebot_create_desktop uri: https://github.com/turtlebot/turtlebot_create_desktop.git version: kinetic - git: local-name: turtlebot_interactions uri: https://github.com/turtlebot/turtlebot_interactions.git version: indigo - git: local-name: turtlebot_msgs uri: https://github.com/turtlebot/turtlebot_msgs.git version: indigo - git: local-name: turtlebot_simulator uri: https://github.com/turtlebot/turtlebot_simulator.git version: indigo
Turtlebot二进制安装：
执行安装：
sudo apt-get install ros-kinetic-turtlebot ros-kinetic-turtlebot-apps ros-kinetic-turtlebot-interactions ros-kinetic-kobuki-ftdi ros-kinetic-ar-track-alvar-msgs ros-kinetic-rocon-remocon ros-kinetic-rocon-qt-library ros-kinetic-turtlebot-simulator
有些包可能不能安装 ，如可能为：
ros-kinetic-rocon-remocon ros-kinetic-rocon-qt-library ros-kinetic-turtlebot-simulator
上述包采用源安装
新建工作空间
mkdir -p ~/turtlebot_ws/src cd ~/turtlebot_ws/src git clone https://github.com/robotics-in-concert/rocon_qt_gui.git git clone https://github.com/turtlebot/turtlebot_simulator.git cd .. catkin_make
问题：提示pyrcc5，pyrcc4没找到
解决：安装pyqt4-dev-tools pyqt5-dev-tools
顺利完成之后，Turtlebot就成功安装
添加到~/.bashrc:
source ~/turtlebot_ws/devel/setup.bash
生成kobuki别名
$ rosrun kobuki_ftdi create_udev_rules
安装kinect驱动
$ sudo apt-get install ros-kinetic-openni-* ros-kinetic-openni2-* ros-kinetic-freenect-*
测试turtlebot
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