ubuntu 12.04 升级到 14.04
[codee]1. sudo apt-get update
2. sudo apt-get dist-upgrade
3. update-manager -d 等待出现可用更新即可。[/codee]
从Ubuntu Kylin 13.10升级安装
- 进入系统;
- 按快捷键 Alt+F2并在命令窗口中输入“update manager”;
- 更新管理器会提示有新的14.04 LTS版本可供下载;
- 单击更新并安装屏幕提示进行操作即可。
ROS Indigo ONLY supports Saucy (13.10) and Trusty (14.04) for debian packages
Setup your computer to accept software from packages.ros.org. ROS IndigoONLY supports Saucy (13.10) and Trusty (14.04) for debian packages.
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sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
Set up your keys
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sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net --recv-key 0xB01FA116
Installation
First, make sure your Debian package index is up-to-date:
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sudo apt-get update
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If you are using Ubuntu Trusty 14.04.2 and experience dependency issues during the ROS installation, you may have to install some additional system dependencies.
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Do not install these packages if you are using 14.04, it will destroy your X server:
sudo apt-get install xserver-xorg-dev-lts-utopic mesa-common-dev-lts-utopic libxatracker-dev-lts-utopic libopenvg1-mesa-dev-lts-utopic libgles2-mesa-dev-lts-utopic libgles1-mesa-dev-lts-utopic libgl1-mesa-dev-lts-utopic libgbm-dev-lts-utopic libegl1-mesa-dev-lts-utopic
Do not install the above packages if you are using 14.04, it will destroy your X server
Alternatively, try installing just this to fix dependency issues:
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sudo apt-get install libgl1-mesa-dev-lts-utopic
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For more information on this issue see this answers.ros.org thread or this launchpad issue
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There are many different libraries and tools in ROS. We provided four default configurations to get you started. You can also install ROS packages individually.
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Desktop-Full Install: (Recommended) : ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception
Indigo uses Gazebo 2 which is the default version of Gazebo on Trusty and is recommended. If you need to upgrade to Gazebo3 seethese instructions about how to upgrade the simulator.
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sudo apt-get install ros-indigo-desktop-full
or click here
Desktop Install: ROS, rqt, rviz, and robot-generic libraries
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sudo apt-get install ros-indigo-desktop
or click here
ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools.
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sudo apt-get install ros-indigo-ros-base
or click here
Individual Package: You can also install a specific ROS package (replace underscores with dashes of the package name):
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sudo apt-get install ros-indigo-PACKAGE
e.g.sudo apt-get install ros-indigo-slam-gmapping
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To find available packages, use:
apt-cache search ros-indigo
Initialize rosdep
Before you can use ROS, you will need to initialize rosdep. rosdep enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS.
sudo rosdep init rosdep update
if $ sudo rosdep init // rosdep: command not found
sudo apt-get install python-pip
sudo pip install -U rosdep
sudo rosdep init
rosdep update
Environment setup
It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched:
echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc source ~/.bashrc
If you have more than one ROS distribution installed, ~/.bashrc must only source the setup.bash for the version you are currently using.
If you just want to change the environment of your current shell, you can type:
source /opt/ros/indigo/setup.bash
If you use zsh instead of bash you need to run the following commands to set up your shell:
echo "source /opt/ros/indigo/setup.zsh" >> ~/.zshrc source ~/.zshrc
Getting rosinstall
rosinstall is a frequently used command-line tool in ROS that is distributed separately. It enables you to easily download many source trees for ROS packages with one command.
To install this tool on Ubuntu, run:
sudo apt-get install python-rosinstall
Build farm status
The packages that you installed were built by ROS build farm. You can check the status of individual packages here
Learning ROS for Robotics Programming Second Edition学习笔记(三) indigo rplidar rviz slam
记录一下rplidar传感器在ROS(indigo)配置使用等。
Indigo集成的rplidar基本功能驱动等。
×基本安装×
通过下面命令安装:
--sudo apt-get install ros-indigo-rplidar-ros
安装好后,rplidarUSB接口插入电脑:
--ls /dev/ttyUSB*
查看下具体端口号。
×使用测试×
--roslaunch rplidar_ros view_rplidar.launch
×SLAM×
--roscore
--roslaunch rplidar_ros view_slam.launch
--roslaunch rplidar_ros rplidar.launch
--roslaunch rplidar_ros gmapping.launch
一、安装ROS
1.1配置Ubuntu的软件中心
配置Ubuntu要求允许接受"restricted," "universe," and "multiverse."的软件源,可以根据下面的链接
注意:配置到“Integration with Ubuntu Software Center”之前就可以了!
1.2.设置你的sources.list(软件源):
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list'
1.3设置你的密钥:
sudo apt-key adv --keyserverhkp://ha.pool.sks-keyservers.net --recv-key 0xB01FA116
#wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -
1.4.安装
首先确认你的Debian的软件包索引是最新的:(Debian 计划是一个致力于创建一个自由操作系统的合作组织。我们所创建的这个操作系统名为 Debian。Debian 系统目前采用 Linux 内核或者 FreeBSD 内核。 )
sudo apt-get update
在ROS中有许多不同的函数库和工具,建议是完全安装,也可以根据自己的要求分别安装.完全安装时的工具包括ROS,rqt,rviz,robot-generic libraries,2D/3D simulators,navigation and 2D/3D,perception。
sudo apt-get install ros-indigo-desktop-full
1.5.初始化rosdep
sudo rosdep init
rosdep update
1.6设置环境
添加ROS的环境变量,这样,当你打开你新的shell时,你的bash回话中会自动添加环境变量.
echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
1.7安装rosinstall
sudo apt-get install Python-rosinstall
rosinstall命令是一个使用的非常频繁的命令,使用这个命令可以轻松的下载许多ROS软件包。
总体步骤转载于http://blog.exbot.net/archives/1270。