【ROS】01 ROS安装与测试

1. Ubuntu的软件和更新

1.1 Ubuntu软件安装配置

配置Ubuntu的软件和更新，允许安装不认证的软件。

1.2 Ubuntu软件升级

• 打开终端Ctrl+Alt+T
• 升级安装基础软件包
  • sudo apt update
  • apt list --upgradable
  • sudo apt upgrade

2. ROS安装

2.1 设置安装源

官方安装源：

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

清华安装源：

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'

中科大安装源：

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

2.2 设置key

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

2.3 安装ROS

安装所需类型的 ROS。ROS 多个类型：Desktop-Full、Desktop、ROS-Base。这里介绍较为常用的Desktop-Full(官方推荐)安装: ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception

sudo apt update
sudo apt install ros-noetic-desktop-full

2.4 配置环境变量

配置环境变量，方便在任意终端中使用ROS。

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

2.5 安装构建依赖

1. 首先安装构建依赖的相关工具

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

2. 然后初始化rosdep

sudo rosdep init
rosdep update

3. rosdep初始化异常解决方法
   异常：下载源被屏蔽
   解决：使用国外资源备份到gitee，修改rosdep源码，重新定位资源

• cd /usr/lib/python3/dist-packages/
• find . -type f | xargs grep "raw.githubusercontent" ：查找rosdep中和raw.githubusercontent.com相关的内容
• 修改相关文件，把raw.githubusercontent.com/ros/rosdistro/master都替换成gitee.com/zhao-xuzuo/rosdistro/raw/master即可，打开相关文件：
  • sudo gedit ./rosdistro/__init__.py
  • sudo gedit ./rosdep2/gbpdistro_support.py
  • sudo gedit ./rosdep2/sources_list.py
  • sudo gedit ./rosdep2/rep3.py
• 然后初始化rosdep

sudo rosdep init
rosdep update

• 若仍不可
  • cd /etc/ros/rosdistro/rosdep/sources.list.d
  • sudo gedit 20-default.list
  • 将下列文本粘贴入文档

# os-specific listings first

yaml https://gitee.com/zhao-xuzuo/rosdistro/raw/master/rosdep/osx-homebrew.yaml osx

# generic

yaml https://gitee.com/zhao-xuzuo/rosdistro/raw/master/rosdep/base.yaml

yaml https://gitee.com/zhao-xuzuo/rosdistro/raw/master/rosdep/python.yaml

yaml https://gitee.com/zhao-xuzuo/rosdistro/raw/master/rosdep/ruby.yaml

gbpdistro https://gitee.com/zhao-xuzuo/rosdistro/raw/master/releases/fuerte.yaml fuerte

# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead

3. ROS测试

1. 启动三个终端（Ctrl+Alt+T）
2. 终端1键入：roscore
3. 终端2键入：rosrun turtlesim turtlesim_node，会出现图像化界面
4. 终端3键入：rosrun turtlesim turtle_teleop_key，可通过方向键控制turtle

ROS官方安装教程