声明:文章仅作为学习记录使用
参考链接:http://wiki.ros.org/noetic/Installation/Ubuntu
本地安装环境:
ilio@ilio-ubuntu:~$ uname -a
Linux ilio-ubuntu 5.8.0-50-generic #56~20.04.1-Ubuntu SMP Mon Apr 12 21:46:35 UTC 2021 x86_64 x86_64 x86_64 GNU/Linux
正式安装
1.设置ros安装源
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
2.安装密钥
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
3.上面的源可能会很慢,尝试更换国内源,<亲测USTC源会出现找不到package的错误>
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
4.更新源
sudo apt update
5.安装ros桌面版本
sudo apt install ros-noetic-desktop-full
6.ros环境配置
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
7.安装必要的build支持package
sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
8.安装rosdep工具,必要工具
sudo apt install python3-rosdep
9.初始化rosdep
sudo rosdep init
可能会出现error,尝试以下方法
ERROE:cannot downlode default source list from*************
sudo gedit /etc/hosts
151.101.84.133 raw.githubusercontent.com
rosdep update
10.测试安装是否成功,三个终端分别运行下面命令
roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key
可以用键盘控制小乌龟就安装成功了