由于工作需要会使用到ros系统,现在将学习过程做个记录,方便以后翻阅和参考。
(第一篇)Ros环境搭建
公司内使用的是ubuntu16.04,安装的ros版本为ROS Kinetic Kame,个人学习安装的系统为ubuntu18.04,对应的ros版本为ROS Melodic Morenia,不同的ubuntu版本需要安装对应的ros版本,否则在后续使用过程中可能会遇到莫名其妙的问题,两者之间的版本对应关系如下表所示
ROS版本 | Ubuntu版本 |
ROS Melodic Morenia | Ubuntu 18.04(Bionic)/Ubuntu 17.04 Artful |
ROS Lunar Loggerhead | Ubuntu 17.04 (Zesty)/Ubuntu 16.10 Yakkety, Ubuntu LTS 16.04 Xenial |
ROS Kinetic Kame | Ubuntu 16.04 (Xenial) / Ubuntu 15.10 (Wily) |
ROS Jade Turtle | Ubuntu 15.04 (Wily) / Ubuntu LTS 14.04 (Trusty) |
ROS Indigo Igloo | Ubuntu 14.04 (Trusty) |
ROS Hydro Medusa | Ubuntu 12.04 LTS (Precise) |
ROS Groovy Galapagos | Ubuntu 12.04 |
安装步骤
1.修改软件源(可选,以阿里源为例)
#cd /etc/apt/
#sudo mv sources.list sources.list.bak
#sudo vi sources.list
deb http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse deb-src http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse deb http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse deb-src http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse deb http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse deb-src http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse deb http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse deb-src http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse |
#sudo apt-get update
2.添加中科大ros软件源
sudo sh -c 'echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu $(lsb_release -sc) main" >/etc/apt/sources.list.d/ros-latest.list'
3.设置密钥
sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F42ED6FBAB17C654
4.更新软件列表
sudo apt-get update
5.安装ros库
sudo apt-get install ros-melodic-desktop-full
6.初始化rosdep
sudo rosdep init
rosdep update
7.将ros环境变量写入bashrc
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
8.执行roscore测试ros安装是否正确
9.构建软件包依赖关系
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
至此,ROS环境安装完成,接下来就可以进行小海龟的学习了。