ref:https://blog.csdn.net/qq_41450811/article/details/99079041
https://www.jianshu.com/p/e6ea653147cb
https://blog.csdn.net/shao918516/article/details/103384095
设置软件源:
国外的:
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
国内的,速度快(ustc or tsinghua):
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
# or
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
设置最新的密钥:
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654
安装:
sudo apt-get update
sudo apt-get install ros-melodic-desktop-full
sudo apt-get install ros-melodic-rqt*
配置ROS环境变量
默认情况下,ROS_HOME的路径为"~/.ros",该目录保存着日志文件和测试结果文件。另外,第一次启动ROS时,需要进行环境变量配置,否则命令行终端找不到ROS命令。配置命令如下:
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
# check
env | grep ROS
笔者查看环境变量结果如下:
ROS_ETC_DIR=/opt/ros/melodic/etc/ros
ROS_ROOT=/opt/ros/melodic/share/ros
ROS_MASTER_URI=http://localhost:11311
ROS_VERSION=1
ROS_PYTHON_VERSION=2
ROS_PACKAGE_PATH=/opt/ros/melodic/share
ROSLISP_PACKAGE_DIRECTORIES=
ROS_DISTRO=melodic
安装rosinstall
为了构建和管理开发者自己的ROS工作空间,还需要安装rosinstall,方法如下:
sudo apt-get install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
ubuntu 20.04 Ros Noetic安装rosdep和rosinstall命令如下:
sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
初始化核心组件rosdep
开始使用ROS之前,还需要安装rosdep,rosdep是ROS一些核心组件的运行基础,会在编译ROS源码时检查和安装程序包依赖。ROS Melodic安装rosdep方法如下:
sudo rosdep init
# 可能由于网络原因会失败,多运行几次即可
rosdep update
problem of python version 2 or 3:
执行sudo rosdep init,发现还存在问题
pkg_resources.DistributionNotFound: The ‘rosdep==0.20.0’ distribution was not found and is required by the application
这是由于ROS默认是python2,而自己系统python版本换到了python3造成的。
我们将系统python版本换到python2就可以了。
执行命令:
sudo update-alternatives --config python
然后输入相应版本编号即可。
创建并初始化工作目录
ROS使用一个名为catkin的ROS专用构建系统。为了使用它,用户需要创建并初始化
catkin工作目录,如下所示。除非用户创建新的工作目录,否则此设置只需设置一次。
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
目前,只有src目录和CMakeLists.txt文件在catkin工作目录中,使用catkin_make命令来构建
cd ~/catkin_ws/
catkin_make
设置环境变量(按需灵活设置):
sudo apt install net-tools
gedit ~/.bashrc
# Set ROS melodic
source /opt/ros/melodic/setup.bash
source ~/catkin_ws/devel/setup.bash
# Set ROS Network
#ifconfig查看你的电脑ip地址
export ROS_HOSTNAME=192.168.89.135
export ROS_MASTER_URI=http://${ROS_HOSTNAME}:11311
# Set ROS alias command 快捷指令
alias cw='cd ~/catkin_ws'
alias cs='cd ~/catkin_ws/src'
alias cm='cd ~/catkin_ws && catkin_make'
小海龟测试,打开三个终端:
roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key