1.Windows下安装Uubuntu虚拟机
安装文件在网盘中 pibot\pibot docs\software\Vmware，Ubuntn镜像在网盘或者官网下载
1.1 Windows下安装Vmware
基本下一步，不再赘述
1.2 虚拟机安装Ubuntu
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a.打开虚拟机，选择创建新的虚拟机
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b. 选择下载好的ubuntu镜像
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c.填入信息继续
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d.选择文件存放位置，继续选择最大磁盘大小，建议(30G)
image.png
image.png -
e.点击完成继续，虚拟机会重启开始安装(我安装的是gnome桌面的ubuntu，可能显示不一样)
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f.安装完成
2. 安装ROS
使用PIBOT ROS安装脚本即可完成ROS的一键安装
cd ~/pibot_ros
./pibot_install_ros.sh
source ~/.bashrc
脚本见文末附录
3. 网络连接
- 虚拟机选择桥接模式
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a. 右击右下角图标
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b.网络连接选择桥接模式
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c.设置桥接网卡，点击菜单编辑选择虚拟网络编辑器
点击更改设置
选择需要桥接的网卡，确定即可
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4. windows安装Xmanager(xshell、xftp)
安装文件在网盘中 pibot\pibot docs\software\Xmanager-v5.0.0547.zip, 安装过程不再赘述
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通过xshell连接至树莓派
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通过xftp传输文件
附pibot_install_ros.sh
#!/bin/bash
sudo sh -c 'echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt-get update
code_name=$(lsb_release -sc)
if [ "$code_name" = "trusty" ]; then
ros_version="indigo"
elif [ "$code_name" = "xenial" ]; then
ros_version="kinetic"
else
echo "PIBOT not support "$code_name
exit
fi
echo "ros:" $ros_version
sudo apt-get -y --allow-unauthenticated install ros-${ros_version}-ros-base ros-${ros_version}-slam-gmapping ros-${ros_version}-navigation ros-${ros_version}-xacro ros-${ros_version}-yocs-velocity-smoother ros-${ros_version}-robot-state-publisher ros-${ros_version}-joint-state-publisher ros-${ros_version}-teleop-twist-* ros-${ros_version}-rviz ros-${ros_version}-control-msgs ros-${ros_version}-kdl-parser-py ros-${ros_version}-tf2-geometry-msgs ros-${ros_version}-hector-mapping ros-${ros_version}-slam-karto ros-${ros_version}-hector-geotiff ros-${ros_version}-hector-trajectory-server ros-${ros_version}-usb-cam ros-${ros_version}-image-transport ros-${ros_version}-image-transport-plugins ros-${ros_version}-astra-launch ros-${ros_version}-astra-camera ros-${ros_version}-depthimage-to-laserscan ros-${ros_version}-openni2*
read -s -n1 -p "install ros gui tools?(y/N)"
if [ "$REPLY" = "y" -o "$REPLY" = "Y" ]; then
sudo apt-get -y --allow-unauthenticated install ros-${ros_version}-rviz ros-${ros_version}-rqt-reconfigure
fi
