ROS安装教程

平台：PC，rk3399

# set Network Time Protocal
sudo apt-get install -y chrony ntpdate
sudo ntpdate -q ntp.ubuntu.com

# set apt-get sources
sudo mv /etc/apt/sources.list /etc/apt/sources.list.bak
sudo gedit /etc/apt/sources.list
paste following text, save and exit
########## x86
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
##########
########## arm64 --rk3399
deb http://mirrors.ustc.edu.cn/ubuntu-ports xenial main restricted
deb http://mirrors.ustc.edu.cn/ubuntu-ports xenial-updates main restricted
deb http://mirrors.ustc.edu.cn/ubuntu-ports xenial universe
deb http://mirrors.ustc.edu.cn/ubuntu-ports xenial-updates universe
deb http://mirrors.ustc.edu.cn/ubuntu-ports xenial multiverse
deb http://mirrors.ustc.edu.cn/ubuntu-ports xenial-updates multiverse
deb http://mirrors.ustc.edu.cn/ubuntu-ports xenial-backports main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu-ports xenial universe
deb http://mirrors.ustc.edu.cn/ubuntu-ports xenial-updates universe
deb http://mirrors.ustc.edu.cn/ubuntu-ports xenial multiverse
deb http://mirrors.ustc.edu.cn/ubuntu-ports xenial-updates multiverse
deb http://mirrors.ustc.edu.cn/ubuntu-ports xenial-backports main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu-ports xenial-security main restricted
deb http://mirrors.ustc.edu.cn/ubuntu-ports xenial-security universe
deb http://mirrors.ustc.edu.cn/ubuntu-ports xenial-security multiverse
#######

# add ROS repository
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

# set public key
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

# update package indices
sudo apt-get update && sudo apt-get upgrade -y

# install ROS Kinetic Kame, will take a long time
sudo apt-get install ros-kinetic-desktop-full

# install ROS Kinetic rqt
sudo apt-get install ros-kinetic-rqt*

# init rosdep
sudo rosdep init
rosdep update

# install rosinstall
sudo apt-get install python-rosinstall
source /opt/ros/kinetic/setup.bash

# initialize workspace
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws
catkin_make
source ~/catkin_ws/devel/setup.bash

# test ROS installation
roscore

# modify bashrc
gedit ~/.bashrc
# append following to file
# Set ROS Kinetic
source /opt/ros/kinetic/setup.bash
source ~/catkin_ws/devel/setup.bash
# Set ROS Network
export ROS_HOSTNAME=localhost
export ROS_MASTER_URI=http://localhost:11311
# Set ROS alias command
alias cw='cd ~/catkin_ws'
alias cs='cd ~/catkin_ws/src'
alias cm='cd ~/catkin_ws && catkin_make'
# then close gedit file and
source ~/.bashrc
export | grep ROS