ROS-Noetic安装

1. 安装

ROS安装网站，用镜像安装。

1.1 Setup your sources.list¹

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

1.2 Set up your keys

sudo apt install curl

curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

1.3 Installation

First, make sure your Debian package index is up-to-date:

sudo apt update

正式安装

sudo apt install ros-noetic-desktop-full

1.4 Environment setup

将ROS的环境设置脚本添加到终端程序初始化脚本里

echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc

source ~/.bashrc

到这，可以运行roscore，同时能看到ROS版本

1.5 Dependencies for building packages

sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential

1.5.1 Initialize rosdep

sudo rosdep init

rosdep update

安装完成

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1. 相当于给Ubuntu安装一个应用商店 ↩︎