ROS01-基础知识-安装

Ubuntu16 amd64安装

1. Set sources.list

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

1. Set keys

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

1. Installation

sudo apt update
sudo apt install ros-kinetic-desktop-full

1. Initialize rosdep

sudo rosdep init
rosdep update

1. Environment setup

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

echo >> 命令，采用双>符号，若采用>则清空.bashrc文件中之前内容。

1. Dependeccies

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

树莓派安装

1. Setup Repositories

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

1. Install Bootstrap Dependencies(Raspbian Jessie)

sudo apt-get install -y python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential cmake

1. Initializing rosdep

sudo rosdep init
rosdep update

1. Create a workspace

mkdir -[ ~/ros_catkin_ws
cd ~/ros_catkin_ws
rosinstall_generator ros_comm --rosdistro kinetic --deps --wet-only --tar > kinetic-desktop-wet.rosinstall
wstool init src kinetic-ros-comm-wet.rosinstall

1. Dependecncies

mkdir -p ~/ros_catkin_ws/external_src
cd ~/ros_catkin_ws/external_src
wget http://sourceforge.net/projects/assimp/files/assimp-3.1/assimp-3.1.1_no_test_models.zip/download -O assimp-3.1.1_no_test_models.zip
unzip assimp-3.1.1_no_test_models.zip
cd assimp-3.1.1
cmake .
make
sudo make install

cd ~/ros_catkin_ws
rosdep install -y --from-paths src --ignore-src --rosdistro kinetic -r --os=debian:jessie

1. Building workspace

sudo ./src/catkin/bin/catkin_make_isolated --install -DMAKE_BUILD_TYPE=Release --install-space /opt/ros/kinetic

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

1. Add released packages

cd ~/ros_catkin_ws
rosinstall_generator ros_comm ros_control joystick_drivers --rosdistro kinetic --deps --wet-only --tar > kinetic-custom_ros.rosinstall

update workspace with wstool

wstool merge -t src kinetic-custom_ros.rosinstall
wstool update -t src

rosdep install --from-paths src --ignore-src --rosdistro kinetic -y -r --os=debian:jessie

rebuild

sudo ./src/catkin/bin/catkin_make_isolated --install -DMAKE_BUILD_TYPE=Release --install-space /opt/ros/kinetic

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ROS install on Raspberry Pi

转载于:https://my.oschina.net/meczhang/blog/1602561