ROS下载与安装

本文仅仅作为学习笔记，有兴趣的童鞋可以一起学习并提出宝贵意见。

初次接触ROS，现在开始学习安装和配置环境：（下面一些文字转自ros.org，版权属于原网站，本文仅作学习笔记。文章为英文，顺便复习一下英文吧！）

Installation

 

Configure your Ubuntu repositories

Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse." You can follow the Ubuntu guidefor instructions on doing this.

 

Setup your sources.list

Setup your computer to accept software from packages.ros.org.

•  

  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://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

If you experience issues connecting to the keyserver, you can try substituting hkp://pgp.mit.edu:80 or hkp://keyserver.ubuntu.com:80 in the previous command.

Alternatively, you can use curl instead of the apt-key command, which can be helpful if you are behind a proxy server:

• curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | sudo apt-key add -

 

Installation

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

• sudo apt 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 above ros-shadow-fixed

• Desktop-Full Install: (Recommended) : ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators and 2D/3D perception

  • sudo apt install ros-melodic-desktop-full

    or click here

  Desktop Install: ROS, rqt, rviz, and robot-generic libraries

  • sudo apt install ros-melodic-desktop

    or click here

  ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools.

  • sudo apt install ros-melodic-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 install ros-melodic-PACKAGE

    e.g.

    sudo apt install ros-melodic-slam-gmapping

To find available packages, use:

apt search ros-melodic

 

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/melodic/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/melodic/setup.bash

If you use zsh instead of bash you need to run the following commands to set up your shell:

 

echo "source /opt/ros/melodic/setup.zsh" >> ~/.zshrc
source ~/.zshrc

 

Dependencies for building packages

Up to now you have installed what you need to run the core ROS packages. To create and manage your own ROS workspaces, there are various tools and requirements that are distributed separately. For example, rosinstall is a frequently used command-line tool that enables you to easily download many source trees for ROS packages with one command.

To install this tool and other dependencies for building ROS packages, run:

 

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

 

Build farm status

The packages that you installed were built by the ROS build farm. You can check the status of individual packages here.

 

 

Tutorials

Now, to test your installation, please proceed to the ROS Tutorials.