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

修改并保存源

  • 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

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 restricteduniversemultiverse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。选择源

添加源

$ 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

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

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)

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

安装ROS

初始化ROS

$ sudo	rosdep	init &&	rosdep	update

环境配置

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

安装rosinstall

$	sudo	apt-get	install	python-rosinstall

测试ROS

$	roscore

报错

  • 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
报错
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。缺少空格

安装成功

最后输入roscore 成功显示
roscore成功

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