| OS | Type |
|---|---|
| OS | Ubuntu 20.04 LTS |
| ROS | Noetic |
# bashrc aliases
alias gb='gedit ~/.bashrc'
alias sb='source ~/.bashrc'
alias cb='cat ~/.bashrc'
# ROS aliases
alias cw='cd ~/catkin_ws'
alias cs='cd ~/catkin_ws/src'
alias cm='cd ~/catkin_ws && catkin_make'
# ROS setting
source /opt/ros/noetic/setup.bash
# ROS Network
export ROS_IP=192.168.0.4
export ROS_MASTER_URI=http://${ROS_IP}:11311
export ROS_HOSTNAME=${ROS_IP}
export TB3_MODEL=burger
export TURTLEBOT3_MODEL=${TB3_MODEL}
# Cartographer
# Cartographer aliases
alias ccw='cd ~/carto_ws'
alias ccs='cd ~/carto_ws/src'
alias ccm='cd ~/carto_ws && catkin_make_isolated --install --use-ninja'
source ~/carto_ws/install_isolated/setup.bash # Cartographerssh ubuntu@192.168.0.200
roslaunch turtlebot3_bringup turtlebot3_robot.launch
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
sudo dpkg --add-architecture armhf
sudo apt-get update
sudo apt-get install libc6:armhf
export OPENCR_PORT=/dev/ttyACM0
export OPENCR_MODEL=burger_noetic
rm -rf ./opencr_update.tar.bz2
wget https://github.com/ROBOTIS-GIT/OpenCR-Binaries/raw/master/turtlebot3/ROS1/latest/opencr_update.tar.bz2
tar -xvf opencr_update.tar.bz2
cd ./opencr_update
./update.sh $OPENCR_PORT $OPENCR_MODEL.opencr
cartographer-project/cartographer_ros#1726
sudo apt update
sudo apt install -y python3-wstool python3-rosdep ninja-build stow
cd ~/carto_ws/
wstool init src
wstool merge -t src https://raw.githubusercontent.com/cartographer-project/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=noetic -y
src/cartographer/scripts/install_abseil.sh
sudo apt remove ros-noetic-abseil-cpp # Ignore it if it doesn't work.
catkin_make_isolated --install --use-ninja
source ~/carto_ws/install_isolated/setup.bash
roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=cartographer
ROBOTIS:Quick Start Guide
https://github.com/msjun23/bashrc-backup