ROS安装笔记

ROS系统

ROS系统是一个机器人的框架，将各个功能模块化，并提供通讯架构，各个功能以节点的方式存在，相互之间独立存在，分布式运行，系统的拓展性和稳定性较好。

ROS的版本选择建议

ROS版本	Ubuntu版本
Melodic	Ubuntu 18.04
Lunar	Ubuntu 17.04
Kinetic	Ubuntu16.04
Jade	Ubuntu 15.04
Indigo	Ubuntu14.04

ROS安装

1. 选择安装源

• 备份源

 sudo cp /etc/apt/sources.list /etc/apt/sources.list.bak

完成这一步后可以根据上面输入的目录查看到对应的备份文件，文件名为sources.list.bak。

• 修改源

cd /etc/apt
ls
gedit sources.list

在弹出的gedit编辑器里粘贴国内源，选择阿里源进行粘贴

• 国内镜像源分享

阿里云源

# deb cdrom:[Ubuntu 16.04 LTS Xenial Xerus - Release amd64 (20160420.1)]/ xenial main restricted
deb-src http://archive.ubuntu.com/ubuntu xenial main restricted #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial main restricted
deb-src http://mirrors.aliyun.com/ubuntu/ xenial main restricted multiverse universe #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted multiverse universe #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial universe
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates universe
deb http://mirrors.aliyun.com/ubuntu/ xenial multiverse
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates multiverse
deb http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse #Added by software-properties
deb http://archive.canonical.com/ubuntu xenial partner
deb-src http://archive.canonical.com/ubuntu xenial partner
deb http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted multiverse universe #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial-security universe
deb http://mirrors.aliyun.com/ubuntu/ xenial-security multiverse

清华大学

# deb cdrom:[Ubuntu 16.04 LTS Xenial Xerus - Release amd64 (20160420.1)]/ xenial main restricted
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial main restricted
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-updates main restricted
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial universe
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-updates universe
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-updates multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-security main restricted
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-security universe
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-security multiverse

中科大源
#https://mirrors.ustc.edu.cn/repogen/

deb https://mirrors.ustc.edu.cn/ubuntu/ eoan main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ eoan main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ eoan-security main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ eoan-security main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ eoan-updates main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ eoan-updates main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ eoan-backports main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ eoan-backports main restricted universe multiverse

#Not recommended
#deb https://mirrors.ustc.edu.cn/ubuntu/ eoan-proposed main restricted universe multiverse
#deb-src https://mirrors.ustc.edu.cn/ubuntu/ eoan-proposed main restricted universe multiverse

搜狐源

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

网易源

deb http://mirrors.163.com/ubuntu/ trusty main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ trusty-security main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ trusty-updates main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ trusty-proposed main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ trusty-backports main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ trusty main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ trusty-security main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ trusty-updates main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ trusty-proposed main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ trusty-backports main restricted universe multiverse

东北大学

deb-src http://mirror.neu.edu.cn/ubuntu/ xenial main restricted #Added by software-properties
deb http://mirror.neu.edu.cn/ubuntu/ xenial main restricted
deb-src http://mirror.neu.edu.cn/ubuntu/ xenial restricted multiverse universe #Added by software-properties
deb http://mirror.neu.edu.cn/ubuntu/ xenial-updates main restricted
deb-src http://mirror.neu.edu.cn/ubuntu/ xenial-updates main restricted multiverse universe #Added by software-properties
deb http://mirror.neu.edu.cn/ubuntu/ xenial universe
deb http://mirror.neu.edu.cn/ubuntu/ xenial-updates universe
deb http://mirror.neu.edu.cn/ubuntu/ xenial multiverse
deb http://mirror.neu.edu.cn/ubuntu/ xenial-updates multiverse
deb http://mirror.neu.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
deb-src http://mirror.neu.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse #Added by software-properties
deb http://archive.canonical.com/ubuntu xenial partner
deb-src http://archive.canonical.com/ubuntu xenial partner
deb http://mirror.neu.edu.cn/ubuntu/ xenial-security main restricted
deb-src http://mirror.neu.edu.cn/ubuntu/ xenial-security main restricted multiverse universe #Added by software-properties
deb http://mirror.neu.edu.cn/ubuntu/ xenial-security universe
deb http://mirror.neu.edu.cn/ubuntu/ xenial-security multiverse

服务器选择

在Ubuntu左上角的搜索->软件和更新->ubuntu软件里的 restricted、universe和multiverse的可选择框是勾选的状态，下载自里面的地址是阿里云的地址http://mirrors.aliyun.com/ubuntu或其他可用的地址。

添加源

ros

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

添加秘钥(ros)

$ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 0xB01FA116

国内ustc

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

添加秘钥(ustc)

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

国内镜像安装参考

http://wiki.ros.org/ROS/Installation/UbuntuMirrors

ROS安装

• 更新软件

$ sudo apt-get update && sudo apt-get upgrade

下载并安装ROS（全功能版本），18.04 安装ros-Melodic-desktop-full，16.04安装 ros-kinetic-desktop-full

$ sudo apt-get install ros-kinetic-desktop-full

初始化ROS

$ sudo rosdep init && rosdep update

环境配置

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

安装rosinstall

$ sudo apt-get install python-rosinstall

测试ROS

$ roscore

报错及处理方法

sudo: rosdep：找不到命令

sudo rosdep init
sudo: rosdep：找不到命令

解决办法

sudo apt install rospack-tools

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.
参考：https://blog.csdn.net/u013468614/article/details/102917569

#打开hosts文件
sudo gedit /etc/hosts
#在文件末尾添加
151.101.84.133  raw.githubusercontent.com
#保存后退出再尝试

安装完成后，输入roscore 命令出现以下错误

程序“roscore”尚未安装。 您可以使用以下命令安装：

新开一个终端会出现以下信息

根据网友提示，如下操作

• 输入命令 ：gedit ~/.bashrc
  source/opt/ros/kinetic/setup.bash 改为source /opt/ros/kinetic/setup.bash 即在source后添加空格才能正确的表示路径。

安装成功

最后输入roscore 成功显示

错误 bash: export: `XXXXX’: 不是有效的标识符

在终端运行ros的现象

在终端运行ros时，出现错误：Unable to contact my own server at…

解决办法

1. 参考 http://wiki.ros.org/ROS/NetworkSetup
2. 编辑.bashrc文件

$cd ros_ws
$gedit ~/.bashrc

• 屏蔽出错的环境变量
• 新增如下语句

export ROS_HOSTNAME=localhost
export ROS_MASTER_URI=http://localhost:11311

3. 重启终端