背景
上一篇文章,我们基于VMWare Workstation成功安装了Ubuntu16.04虚拟机,这次我们在ubuntu16.04的环境下,安装ROS Kinetic版本,注意,每一个ROS版本需要对应特定的ubuntu版本。
配置过程
1.设置source.list
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
2.设置key(公钥已更新)
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
3.更新package
sudo apt-get update
4.安装ROS kinetic完整版
sudo apt-get install ros-kinetic-desktop-full
5.初始化rosdep
sudo rosdep init
rosdep update
6.配置ROS环境
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
7.安装依赖项
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
8.测试是否安装成功
打开新的终端中输入roscore,有如下表示,表示安装成功
踩坑
1.Could not find the required component “serial”
缺少serial这个模块,需要安装对应的包
使用sudo apt-get install ros--serial下载 ROS 对应版本的工具包
sudo apt-get install ros-kinetic-serial
2.Could not find the required component “jsk_recognition_msgs”
sudo apt-get install ros-kinetic-jsk-recognition-msgs
3.发现系统提示无法找到pcap.h以及nlopt.hpp文件
# 获取libpcap
sudo apt-get install libpcap-dev
#获取libnlopt
sudo apt-get install libnlopt-dev
4.No rule to make target ‘/usr/lib/x86_64-linux-gnu/libvtkproj4.6.2.so.6.2.0’ needed by xxx
sudo ln -s /usr/lib/x86_64-linux-gnu/libvtkCommonCore-6.2.so /usr/lib/x86_64-linux-gnu/libvtkproj4-6.2.so.6.2.0
5.Could NOT find GeographicLib (missing: GeographicLib_LIBRARIES GeographicLib_INCLUDE_DIRS)
sudo apt-get install libgeographic-dev
6.Could not find a package configuration file provided by “geodesy”
sudo apt-get install ros-kinetic-geodesy