摘要: ROS是一个机器人操作系统,源于斯坦福,现在由开源机器人基金会(http://www.osrfoundation.org/)进行发展。目前最新的版本是Kinetic。 ROS并不是完整的操作系统,而是一个应用层的运行环境,支持很多种宿主操作系统,如Ubuntu,也支持Mac OS X,支持ARM上的Ubuntu和Android。
1.ubuntu 15.10 安装与使用
安装镜像下载地址:http://www.ubuntu.com/download/desktop
下载后,使用U盘启动安装,安装后设置更新源等,并配置常用的应用。
2.ROS kinetic安装与使用
参考的网址:
http://wiki.ros.org/kinetic
http://wiki.ros.org/kinetic/Installation/Ubuntu
2.1 设置安装源
ROS Kinetic只支持Wily(15.10)和Xenial(16.04)对应内核分别为4.2和4.4,使用下面命令:
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
2.2 设置keys
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 0xB01FA116
Executing: /tmp/tmp.vZcRo5lOC8/gpg.1.sh –keyserver
hkp://ha.pool.sks-keyservers.net:80
–recv-key
0xB01FA116
2.3 安装
sudo apt-get update
sudo apt-get install ros-kinetic-desktop-full
安装功能包:
sudo apt-get install ros-kinetic-PACKAGE
例如:
sudo apt-get install ros-kinetic-slam-gmapping
查找在kinetic中可以使用的功能包:
apt-cache search ros-kinetic
2.4 初始化
sudo rosdep init
Wrote /etc/ros/rosdep/sources.list.d/20-default.list
Recommended: please run
rosdep update
reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/Python.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index.yaml
Add distro “groovy”
Add distro “hydro”
Add distro “indigo”
Add distro “jade”
Add distro “kinetic”
updated cache in /home/relaybot/.ros/rosdep/sources.cache
2.5 环境配置
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
注意当安装多个ROS发行版,使用kinetic需要用到下面命令:
source /opt/ros/kinetic/setup.bash
2.6 安装rosinstall
sudo apt-get install python-rosinstall
2.7 测试roscore
roscore