ubuntu 12.04 升级到 14.04

ubuntu 12.04 升级到 14.04

[codee]1. sudo apt-get update
2. sudo apt-get dist-upgrade
3. update-manager -d 等待出现可用更新即可。[/codee]

从Ubuntu Kylin 13.10升级安装

- 进入系统;
- 按快捷键 Alt+F2并在命令窗口中输入“update manager”;
- 更新管理器会提示有新的14.04 LTS版本可供下载;
- 单击更新并安装屏幕提示进行操作即可。

ROS Indigo  ONLY supports Saucy (13.10) and Trusty (14.04) for debian packages

Setup your computer to accept software from packages.ros.org. ROS IndigoONLY supports Saucy (13.10) and Trusty (14.04) for debian packages.


Set up your keys

  • sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net --recv-key 0xB01FA116


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

  • sudo apt-get update
    • If you are using Ubuntu Trusty 14.04.2 and experience dependency issues during the ROS installation, you may have to install some additional system dependencies.

      • /!\Do not install these packages if you are using 14.04, it will destroy your X server:

        sudo apt-get install xserver-xorg-dev-lts-utopic mesa-common-dev-lts-utopic libxatracker-dev-lts-utopic libopenvg1-mesa-dev-lts-utopic libgles2-mesa-dev-lts-utopic libgles1-mesa-dev-lts-utopic libgl1-mesa-dev-lts-utopic libgbm-dev-lts-utopic libegl1-mesa-dev-lts-utopic

        /!\Do not install the above packages if you are using 14.04, it will destroy your X server

      Alternatively, try installing just this to fix dependency issues:

      • sudo apt-get install libgl1-mesa-dev-lts-utopic

    For more information on this issue see this answers.ros.org thread or this launchpad issue

There are many different libraries and tools in ROS. We provided four default configurations to get you started. You can also install ROS packages individually.

  • Desktop-Full Install: (Recommended) : ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception

    Indigo uses Gazebo 2 which is the default version of Gazebo on Trusty and is recommended. If you need to upgrade to Gazebo3 seethese instructions about how to upgrade the simulator.

    • sudo apt-get install ros-indigo-desktop-full

      or click here

    Desktop Install: ROS, rqt, rviz, and robot-generic libraries

    • sudo apt-get install ros-indigo-desktop

      or click here

    ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools.

    • sudo apt-get install ros-indigo-ros-base

      or click here

    Individual Package: You can also install a specific ROS package (replace underscores with dashes of the package name):

    • sudo apt-get install ros-indigo-PACKAGE
      sudo apt-get install ros-indigo-slam-gmapping

To find available packages, use:

apt-cache search ros-indigo

Initialize rosdep

Before you can use ROS, you will need to initialize rosdep. rosdep enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS.

sudo rosdep init
rosdep update

if $ sudo rosdep init  //  rosdep: command not found  
sudo apt-get install python-pip
sudo pip install -U rosdep
sudo rosdep init
rosdep update

Environment setup

It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched:

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

If you have more than one ROS distribution installed, ~/.bashrc must only source the setup.bash for the version you are currently using.

If you just want to change the environment of your current shell, you can type:

source /opt/ros/indigo/setup.bash

If you use zsh instead of bash you need to run the following commands to set up your shell:

echo "source /opt/ros/indigo/setup.zsh" >> ~/.zshrc
source ~/.zshrc

Getting rosinstall

rosinstall is a frequently used command-line tool in ROS that is distributed separately. It enables you to easily download many source trees for ROS packages with one command.

To install this tool on Ubuntu, run:

sudo apt-get install python-rosinstall

Build farm status

The packages that you installed were built by ROS build farm. You can check the status of individual packages here

Learning ROS for Robotics Programming Second Edition学习笔记() indigo rplidar rviz slam





--sudo apt-get install ros-indigo-rplidar-ros


--ls /dev/ttyUSB*




--roslaunch rplidar_ros view_rplidar.launch




--roslaunch rplidar_ros view_slam.launch

--roslaunch rplidar_ros rplidar.launch

--roslaunch rplidar_ros gmapping.launch





配置Ubuntu要求允许接受"restricted," "universe," and "multiverse."的软件源,可以根据下面的链接


   注意:配置到“Integration with Ubuntu Software Center”之前就可以了!


sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list'


sudo apt-key adv --keyserverhkp://ha.pool.sks-keyservers.net --recv-key 0xB01FA116

#wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -


首先确认你的Debian的软件包索引是最新的:(Debian 计划是一个致力于创建一个自由操作系统的合作组织。我们所创建的这个操作系统名为 Debian。Debian 系统目前采用 Linux 内核或者 FreeBSD 内核。 )

sudo apt-get update

在ROS中有许多不同的函数库和工具,建议是完全安装,也可以根据自己的要求分别安装.完全安装时的工具包括ROS,rqt,rviz,robot-generic libraries,2D/3D simulators,navigation and 2D/3D,perception。

sudo apt-get install ros-indigo-desktop-full


sudo rosdep init

rosdep update



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

source ~/.bashrc(使环境变量设置立即生效)


sudo apt-get install Python-rosinstall




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ubuntu 12.04 升级到 14.04