Install all from source (git)

Official recommend use Ubuntu server to install ros and other package from apt. However, this may cause problem below:

• 4B+ only with 20.04 LTS, old os will be refused on boot.
• Install UI (gnome etc) will cause wierd lag, even in opening a simple image sometimes.

So I want to build turtle on Raspbian.

Prepartion

You need to install Raspbian on Pi4, and install ROS from source.[Official step 1-13]

Installation

They install these package by apt:rosserial-python, tf,hls-lfcd-lds-driver, turtlebot3-msgs and dynamixel-sdk.

You can check if you have installed one of them by:

rospack list | grep -e hls-lfcd-lds-driver -e turtlebot3-msgs -e dynamixel-sdk -e rosserial-python 
-e tf

Then you can install them from src. A guide about install package from source here.

And you could install part of package ONLY IF you know you will not use other part in this package. Just like turtle3 on Pi remove three packages. Not recommend for beginers

Git repo list (from melodic branch)

tf (geometry: angles | eigen_conversions | kdl_conversions | tf | tf_conversions)

git clone -b melodic-devel https://github.com/ros/geometry.git

rosserial_python (rosserial: rosserial_client | rosserial_msgs | rosserial_python)

git clone -b melodic-devel https://github.com/ros-drivers/rosserial.git

hls_lfcd_lds_driver

git clone -b melodic-devel https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver.git

turtlebot3_msgs

git clone -b melodic-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git

dynamixel_sdk

git clone -b melodic-devel https://github.com/ROBOTIS-GIT/DynamixelSDK.git

turtlebot3 (turtlebot3: turtlebot3_bringup | turtlebot3_description | turtlebot3_example | turtlebot3_navigation | turtlebot3_slam | turtlebot3_teleop)

git clone -b melodic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
cd turtlebot3

Note: If you could not access github by xx, 1). Use github mirror like https://gitclone.com/ 2). V2ray + proxychains4 for HTTP

NoteL: turtlebot3_msgs error

CMake Error at /home/pi/ros_catkin_ws/build_isolated/turtlebot3_msgs/cmake/turtlebot3_msgs-genmsg.cmake:3 (message):
  Could not find messages which
  '/home/pi/ros_catkin_ws/src/turtlebot3_msgs/msg/SensorState.msg' depends
  on.  Did you forget to specify generate_messages(DEPENDENCIES ...)?

  Cannot locate message [Header] in package [std_msgs] with paths
  [['/home/pi/ros_catkin_ws/devel_isolated/std_msgs/share/std_msgs/cmake/../msg']]
Call Stack (most recent call first):
  /home/pi/ros_catkin_ws/devel_isolated/genmsg/share/genmsg/cmake/genmsg-extras.cmake:307 (include)
  CMakeLists.txt:29 (generate_messages)

I find a simple solution from Ros Answer, not create a soft link but copy all folder to dest.

cp -r src/std_msgs/msg /home/pi/ros_catkin_ws/devel_isolated/std_msgs/share/std_msgs/cmake/../msg