ros_Install _Kinetic

最新推荐文章于 2022-06-09 17:59:13 发布

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最新推荐文章于 2022-06-09 17:59:13 发布

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分类专栏： ROS

本文链接：https://blog.csdn.net/hanshuning/article/details/52269442

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http://wiki.ros.org/kinetic/Installation/Ubuntu

Installation

Configure your Ubuntu repositories

Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse." You canfollow the Ubuntu guide for instructions on doing this.

這一步可以搜索software&updates，打開，可以看到相關的設置之前打了對夠。或者cat /etc/apt/sources.list会看到类似以下的字眼，后面会接著universe multiverse等字

一般可忽略。

Setup your sources.list

Setup your computer to accept software from packages.ros.org. ROS KineticONLY supports Wily (Ubuntu 15.10), Xenial (Ubuntu 16.04) and Jessie (Debian 8) for debian packages.

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

Mirrors

Source Debs are also available

Set up your keys

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

Installation

First, make sure your Debian package index is up-to-date:

```
sudo apt-get update
```

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.

In case of problems with the next step, you can use following repositories instead of the ones mentioned aboveros-shadow-fixed

Desktop-Full Install: (Recommended) : ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception
- ```
sudo apt-get install ros-kinetic-desktop-full
```
  or click here
Desktop Install: ROS, rqt, rviz, and robot-generic libraries
- ```
sudo apt-get install ros-kinetic-desktop
```
  or click here
ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools.
- ```
sudo apt-get install ros-kinetic-ros-base
```
  or click here
Individual Package: You can also install a specific ROS package (replace underscores with dashes of the package name):
- ```
sudo apt-get install ros-kinetic-PACKAGE
```
  e.g.
```
sudo apt-get install ros-kinetic-slam-gmapping
```

To find available packages, use:

apt-cache search ros-kinetic

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

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/kinetic/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, instead of the above you can type:

source /opt/ros/kinetic/setup.bash

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: