首先感谢二位大佬的原贴:
https://blog.csdn.net/qq_41450811/article/details/99079041
https://zhuanlan.zhihu.com/p/398754989
http://wiki.ros.org/noetic/Installation/Ubuntu
设置源
先切换软件源到清华或阿里云
接下来设置ros清华源
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654
sudo apt update
安装ROS
sudo apt install ros-melodic-desktop-full
如果这里提示依赖问题,就用下面这个:
sudo apt-get install aptitude
sudo aptitude install ros-melodic-desktop-full
接下来继续安装
sudo apt-get install ros-melodic-rqt*
初始化rosdep
这一步很关键,多数大佬会被卡在这里,原因嘛,你懂得。
所以!!!这里有个切换国内源的办法:
sudo pip install rosdepc
sudo rosdepc init
rosdepc update
轻松搞定。鱼香ROS大佬666,造福群众。
安装rosinstall
sudo apt-get install python-rosinstall
加载下环境变量
source /opt/ros/melodic/setup.bash
初始化工作目录
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws/
catkin_make
配置ROS环境变量
sudo gedit ~/.bashrc
加上这段
# Set ROS melodic
source /opt/ros/melodic/setup.bash
source ~/catkin_ws/devel/setup.bash
# Set ROS Network
#注意!!!这里写你的ip地址,Terminal输入ifconfig查看
export ROS_HOSTNAME=192.168.89.135
#这个不用动
export ROS_MASTER_URI=http://${ROS_HOSTNAME}:11311
# Set ROS alias command 快捷指令
alias cw='cd ~/catkin_ws'
alias cs='cd ~/catkin_ws/src'
alias cm='cd ~/catkin_ws && catkin_make'
最后刷新环境变量
source ~/.bashrc
ROS测试
召唤小海龟,注意,每行指令开一个窗口运行。
roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key
搞定!