1.设置Source.list
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
下面进行换源,可以加速下载依赖包的速度
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'
2.设置公钥(Key)
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
若成功导入,会显示
gpg: Total number processed: 1
gpg: imported: 1 (RSA: 1)
3.更新Package
sudo apt-get update
4、安装ROS kinetic完整版
sudo apt-get install ros-kinetic-desktop-full
5、初始化rosdep
sudo rosdep init
rosdep update
Tip:这一步绝大多数人都会出错
ERROR: cannot download default sources list from:
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
Website may be down.
我在不断配置中也没有成功过,主要原因时连接到Github超时,但是可以手动从GIthub下下载好依赖包,再进行相关配置,下面链接为解决方法。
rosdep init/rosdep update error:timeout - 古月居 (guyuehome.com)
进行文章里的操作时,用
sudo nautilus
打开文件,不能随意给文件权限,否则系统就原地爆炸,直接报废(万一报废了,如果时虚拟机,就需要提前快照备份,非虚拟机可以用timeshift进行快照备份,详细会以后总结出一篇文章介绍快照备份)
6.刷新ROS环境
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
7、安装依赖包
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
8.安装完成,启动ROS核心进行测试
roscore
ROS安装成功会显示下面得东西
SUMMARY
========PARAMETERS
* /rosdistro: kinetic
* /rosversion: 1.12.17NODES
auto-starting new master
process[master]: started with pid [29079]
ROS_MASTER_URI=http://ubuntu:11311/setting /run_id to fe569820-2d9f-11ec-9604-000c297e3cf6
process[rosout-1]: started with pid [29092]
started core service [/rosout]
^C[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
大功告成!!!
参考链接:rosdep init/rosdep update error:timeout - 古月居 (guyuehome.com)