ROS相关环境配置

一、Ubuntu 16.04安装

在虚拟机vmware下安装Ubuntu16.04：
官网下载
通过国内镜像下载：清华镜像

配置国内apt源

1. 备份原来的源

sudo cp /etc/apt/sources.list /etc/apt/sources_init.list

2. 修改源

	sudo gedit /etc/apt/sources.list

阿里源：

deb http://mirrors.aliyun.com/ubuntu/ xenial main
deb-src http://mirrors.aliyun.com/ubuntu/ xenial main

deb http://mirrors.aliyun.com/ubuntu/ xenial-updates main
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-updates main

deb http://mirrors.aliyun.com/ubuntu/ xenial universe
deb-src http://mirrors.aliyun.com/ubuntu/ xenial universe
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates universe
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-updates universe

deb http://mirrors.aliyun.com/ubuntu/ xenial-security main
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-security main
deb http://mirrors.aliyun.com/ubuntu/ xenial-security universe
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-security universe

清华源

# 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-security main restricted universe multiverse

# 预发布软件源，不建议启用
# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse

配置国内pip源

sudo gedit ~/.pip/pip.conf

通过gedit修改清华源

[global]     

index-url = https://pypi.tuna.tsinghua.edu.cn/simple

二、ROS系统安装

增加ROS国内源
官网教程

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

设置秘钥:

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 0xB01FA116

sudo apt-get update

如果出现

There is no public key available for the following key IDs:
<id>

解决方法：

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys <id>

安装ROS

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

先初始化 rosdep

sudo rosdep init
rosdep update

初始化环境变量:

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

安装一个非常常用的插件：

sudo apt-get install python-rosinstall

启动ROS环境进行测试

roscore

显示如下界面就成功了

三、QT安装

提前注册QT账号：官网
QT5.13.0下载链接
下载 qt-opensource-linux-x64-5.13.0.run
执行安装

cd <文件所在路径>
chmod 777 qt-opensource-linux-x64-5.13.0.run
./qt-opensource-linux-x64-5.13.0.run

四、roboware-studio 安装

下载安装包

github所有版本
gitee单独copy的1.2.0版本

安装

sudo dpkg -i <安装文件>

异常解决

出现安装版本问题
按照提示

sudo apt-get -f install