Ubuntu下的ROS安装及配置

挑选版本

Ubuntu	ROS	End of Life
14.04 LTS	indigo lgloo	April, 2019
16.04 LTS	Kinetic Kame	April, 2021
18.04 LTS	Melodic Morenia	May, 2023
20.04 LTS	Noetic Ninjemys(Recommended)	May, 2025

ros安装：

1 安装ubuntu

安装ubuntu并将Software&Upadates设置为国内源（略）

2 添加ROS源

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

官方源可能遇到ros安装慢的问题，可以改用国内ROS源：

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

3 添加密钥

sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

4 安装ros

以melodic为例，也可根据相应ubuntu版本替换为noetic、kinetic

sudo apt-get update
sudo apt-get install ros-melodic-desktop-full

5 环境设置

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

6 安装编译packages时需要的依赖项

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential

初始化rosdep（rosdep能为你想编译的源码轻松地安装系统依赖项）

sudo rosdep init
rosdep update

此处可能遇到update命令超时的问题，通过以下两步解决：

• step1 增大超时阈值 (参考)
  打开以下三个文件（noetic版本将路径中的python2.7替换为python3），修改DOWNLOAD_TIMEOUT = 10000.0

sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py

sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/gbpdistro_support.py

sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/rep3.py

• step2 挂全局vpn

7 安装完成的小乌龟测试

每个命令需新开一个terminal标签页键入：

roscore

rosrun turtlesim turtlesim_node

rosrun turtlesim turtle_teleop_key

8 用catkin_make工具编译package

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src

在src下放置你要编译的package文件夹

catkin_init_workspace
cd ~/catkin_ws
catkin_make

设置环境变量

echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc