ROS系统学习

ROS系统安装
ros版本18.04，采用阿里云镜像，ROS官网安装教程
http://wiki.ros.org/cn/kinetic/Installation/Ubuntu

1、添加ros软件源
设置你的电脑可以从 packages.ros.org 接收软件.

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

2.添加 keys

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654

2.1若出现如下无法验证签名

解决路径：https://blog.csdn.net/qq_24805141/article/details/52838730?depth_1-utm_source=distribute.pc_relevant.none-task&utm_source=distribute.pc_relevant.none-task
3.安装ROS
首先，确保你的Debian软件包索引是最新的

sudo apt-get update

桌面完整版

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

4.初始化 rosdep

sudo rosdep init
rosdep update  

4.1出现如下问题

~$ sudo rosdep init
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.

解决办法：国内需要翻墙

ping www.google.com
PING www.google.com (75.126.124.162) 56(84) bytes of data

提示如下则成功

```bash
sudo rosdep init
Wrote /etc/ros/rosdep/sources.list.d/20-default.list
Recommended: please run

5.环境配置

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

6.安装ROSinstal

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

注意：配置完后需要注销用户重新登录或重启ubuntu18.04，避免有环境变量没有更新,
7.小海龟仿真测试

$ roscore
$ rosrun turtlesim turtlesim_node
$ rosrun turtlesim turtle_teleop_key