安裝rbx1之前需要安裝一些前置安裝包，參考網上資源
sudo apt-get install ros-kinetic-turtlebot-bringup \
ros-kinetic-turtlebot-create-desktop ?
sudo apt-get install ros-kinetic-openni-* ros-kinetic-openni2-* ros-kinetic-freenect-* ros-kinetic-usb-cam ros-kinetic-laser-* \
ros-kinetic-hokuyo-node \ ?hokuyo 激光包
ros-kinetic-audio-common
gstreamer0.10-pocketsphinx ?
ros-kinetic-pocketsphinx ?語音識別包
ros-kinetic-slam-gmapping ros-kinetic-joystick-drivers python-rosinstall ros-kinetic-orocos-kdl ros-kinetic-python-orocos-kdl \
python-setuptools ros-kinetic-dynamixel-motor-* libopencv-dev python-opencv ros-kinetic-vision-opencv ros-kinetic-depthimage-to-laserscan ros-kinetic-arbotix-* \
ros-kinetic-turtlebot-teleop ros-kinetic-move-base ros-kinetic-map-server ros-kinetic-fake-localization ros-kinetic-amcl
git subversion mercurial
1. 安裝rbx1
cd ~/catkin_ws/src
git clone https://github.com/pirobot/rbx1.git
cd ..
catkin_make
rospack profile
2. 安裝Arbotix模擬器
cd ~/catkin_ws/src
git clone https://github.com/vanadiumlabs/arbotix_ros.git
cd ..
catkin_make
3.測試模擬器
a.在一個新的終端輸入
roscore
b.在一個新的終端輸入
roslaunch rbx1_bringup fake_turtlebot.launch啓動機器人
c.調出RViz查看模擬的機器人
rosrun rviz rviz -drospack find rbx1_nav/sim.rviz
d.讓機器人順時針轉圈
rostopic pub -r 10 /cmd_vel geometry_msgs/Twist '{linear: {x: 0.1,y: 0,z: 0},angular: {x: 0,y: 0,z: 0}}'(這裏需要注意的是變量名和值之間必須要有一個空格)