Ubuntu20.04安装ROS1 Noetic Ninjemys版本

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安装须知：ROS1版本与Ubuntu对应的版本

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（1）打开【软件和更新】进入【Ubuntu软件】界面，允许main、universe、restricted、multiverse这四个选项前打勾；
（2）换源：将系统默认源文件替换为阿里源

sudo gedit /etc/apt/sources.list #编辑sources.list文件
源文件用阿里源文件替换并保存

ubuntu20.LTS系统默认源source.list文件内容

#deb cdrom:[Ubuntu 20.04 LTS _Focal Fossa_ - Release amd64 (20200423)]/ focal main restricted

# See http://help.ubuntu.com/community/UpgradeNotes for how to upgrade to
# newer versions of the distribution.
deb http://cn.archive.ubuntu.com/ubuntu/ focal main restricted
# deb-src http://cn.archive.ubuntu.com/ubuntu/ focal main restricted

## Major bug fix updates produced after the final release of the
## distribution.
deb http://cn.archive.ubuntu.com/ubuntu/ focal-updates main restricted
# deb-src http://cn.archive.ubuntu.com/ubuntu/ focal-updates main restricted

## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu
## team. Also, please note that software in universe WILL NOT receive any
## review or updates from the Ubuntu security team.
deb http://cn.archive.ubuntu.com/ubuntu/ focal universe
# deb-src http://cn.archive.ubuntu.com/ubuntu/ focal universe
deb http://cn.archive.ubuntu.com/ubuntu/ focal-updates universe
# deb-src http://cn.archive.ubuntu.com/ubuntu/ focal-updates universe

## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu 
## team, and may not be under a free licence. Please satisfy yourself as to 
## your rights to use the software. Also, please note that software in 
## multiverse WILL NOT receive any review or updates from the Ubuntu
## security team.
deb http://cn.archive.ubuntu.com/ubuntu/ focal multiverse
# deb-src http://cn.archive.ubuntu.com/ubuntu/ focal multiverse
deb http://cn.archive.ubuntu.com/ubuntu/ focal-updates multiverse
# deb-src http://cn.archive.ubuntu.com/ubuntu/ focal-updates multiverse

## N.B. software from this repository may not have been tested as
## extensively as that contained in the main release, although it includes
## newer versions of some applications which may provide useful features.
## Also, please note that software in backports WILL NOT receive any review
## or updates from the Ubuntu security team.
deb http://cn.archive.ubuntu.com/ubuntu/ focal-backports main restricted universe multiverse
# deb-src http://cn.archive.ubuntu.com/ubuntu/ focal-backports main restricted universe multiverse

## Uncomment the following two lines to add software from Canonical's
## 'partner' repository.
## This software is not part of Ubuntu, but is offered by Canonical and the
## respective vendors as a service to Ubuntu users.
# deb http://archive.canonical.com/ubuntu focal partner
# deb-src http://archive.canonical.com/ubuntu focal partner

deb http://security.ubuntu.com/ubuntu focal-security main restricted
# deb-src http://security.ubuntu.com/ubuntu focal-security main restricted
deb http://security.ubuntu.com/ubuntu focal-security universe
# deb-src http://security.ubuntu.com/ubuntu focal-security universe
deb http://security.ubuntu.com/ubuntu focal-security multiverse
# deb-src http://security.ubuntu.com/ubuntu focal-security multiverse

# This system was installed using small removable media
# (e.g. netinst, live or single CD). The matching "deb cdrom"
# entries were disabled at the end of the installation process.
# For information about how to configure apt package sources,
# see the sources.list(5) manual.

阿里源

deb http://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiverse

清华源

# 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted universe multiverse

# 预发布软件源，不建议启用
# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-proposed main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-proposed main restricted universe multiverse

（3）更新软件列表

sudo apt-get update
sudo apt-get upgrade

（4）添加sources.list

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

（5）添加keys

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

（6）更新

sudo apt update

（7）安装桌面完整版

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

（8）必须在使用ROS的每个bash终端中获取此脚本的源代码

source /opt/ros/noetic/setup.bash

（9）环境配置

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

（10）查看环境配置

env | grep ROS 

示例：小海龟移动
小海龟测试需要依次打开三个新的命令行窗口：
（1）窗口1：打开新窗口快捷键：Ctrl + Alt + T

roscore

（2）窗口2：此时会跳出一个TurtleSim 小乌龟的控制窗口

rosrun turtlesim turtlesim_node

（3）窗口3：调用键盘控制。使用键盘方向键对小海龟进行控制。
注：鼠标光标一定要聚焦在窗口3中，通过键盘控制乌龟动起来

rosrun turtlesim turtle_teleop_key

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