ROS 存在不同的版本,但是由于ROS不同版本之间互不兼容,所以每一个 ROS 版本都对应着一个或两个对应的Ubuntu 版本。安装时,一定要对应好,否则安装出问题。
ROS发布日期 | ROS版本 | 对应Ubutnu版本 |
2016.3 | ROS Kinetic Kame | Ubuntu 16.04 (Xenial) / Ubuntu 15.10 (Wily) |
2015.3 | ROS Jade Turtle | Ubuntu 15.04 (Wily) / Ubuntu LTS 14.04 (Trusty) |
2014.7 | ROS Indigo Igloo | Ubuntu 14.04 (Trusty) |
2013.9 | ROS Hydro Medusa | Ubuntu 12.04 LTS (Precise) |
2012.12 | ROS Groovy Galapagos | Ubuntu 12.04 (Precise) |
- 设置"软件和更新"
打开system setting(系统设置)->Software&Updates(软件与更新)
打开后按照下图进行配置(勾选 "universe", "restricted"和 "multiverse")
- 添加sources.list
配置你的电脑使其能够安装来自packages.ros.org的软件。
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
- 设置秘钥
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
- 更新
sudo apt-get update
- 安装
桌面完整版包含ROS、rqt、rviz、通用机器人函数库、2D/3D仿真器、导航以及2D/3D感知功能。
sudo apt-get install ros-indigo-desktop-full
- 初始化
sudo rosdep init
rosdep update
- 设置环境变量
echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
source ~/.bashrc
- 安装 rosinstall
rosinstall 是ROS中一个独立分开的常用命令行工具,它可以方便让你通过一条命令就可以给某个ROS软件包下载很多源码树。
sudo apt-get install python-rosinstall
- 安装ros-indigo-*所有相关安装包(可选)
sudo apt-get install ros-indigo-ecl-*
sudo apt-get install ros-indigo-turtlebot-*
sudo apt-get install ros-indigo-*
- 检查是否安装/配置成功
输入命令
export | grep ROS
输出为
declare -x ROSLISP_PACKAGE_DIRECTORIES=""
declare -x ROS_DISTRO="indigo"
declare -x ROS_ETC_DIR="/opt/ros/indigo/etc/ros"
declare -x ROS_MASTER_URI="http://localhost:11311"
declare -x ROS_PACKAGE_PATH="/opt/ros/indigo/share:/opt/ros/indigo/stacks"
declare -x ROS_ROOT="/opt/ros/indigo/share/ros"
或者输入命令
roswtf
输出为
Loaded plugin tf.tfwtf
No package or stack in context
================================================================================
Static checks summary:
No errors or warnings
================================================================================
ROS Master does not appear to be running.
Online graph checks will not be run.
ROS_MASTER_URI is [http://localhost:11311]
- 创建工作空间
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws/
catkin_make
source devel/setup.bash
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
- 卸载ROS
sudo apt-get remove ros-*