ROS安装

ubuntu18.04

 

①添加ROS软件源

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

 

②添加密钥

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

 

③安装ROS

sudo apt update

sudo apt install ros-melodic-desktop-full

这里时间比较长，大概下了半个到一个小时吧

安装到最后出了点小问题

sudo apt-get update --fix-missing

然后再sudo apt install ros-melodic-desktop-full就ok了

 

（在这里说明一点，我之前换到阿里云的源，然后安装这一步出了问题，后来切回到ubuntu自己的源，就能ok了）

 

④初始化rosdep

sudo rosdep init

有两个坑

1)sudo: rosdep：找不到命令

sudo apt-get install python-rosdep 解决

2）ERROR: cannot download default sources list from:
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
Website may be down.

https://blog.csdn.net/qq_44830040/article/details/106049992

 

rosdep update

 

⑤设置环境变量

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

此时输入ros再双点tab键就会出来

 

⑥安装rosinstall

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

 

至此，安装完成

 

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程序目录

 

验证

使用roscore命令启动ROS Master

启动小海龟仿真器 rosrun turtlesim turtlesim_node

启动海龟控制节点 rosrun turtlesim turtle_teleop_key

 

 

 

https://www.bilibili.com/video/BV1zt411G7Vn?p=5&t=849