【Ubuntu】Ubuntu中安装配置ROS

系统:Ubuntu 16.04

Ros系统:kinetic

步骤:

(1)配置Ubuntu的资源库："restricted"，"universe"和"multiverse"。一般情况是不用配置的，参考下图红色框部分。
如果没有配置，可以参考Ubuntu官网：点击打开链接

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

源可以选择国内比较快速的源，推荐使用例如：http://mirrors.ustc.edu.cn,。

(2)设置Ubuntu的sources.list，按照官网的选择国内的ustc的

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

(3)设置key，可见http://wiki.ros.org/kinetic/Installation/Ubuntu的步骤1.3

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

(4)更新package

sudo apt-get update

(5)安装ROS kinetic完整版

sudo apt-get install ros-kinetic-desktop-full

安装完可以查看可用的package：

apt-cache search ros-kinetic

(6)初始化rosdep:在使用ROS之前必须要初始化rosdep

sudo rosdep init
rosdep update

如果出现：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.

在/etc/hosts中加入　151.101.84.133 raw.githubusercontent.com然后在执行

(7)配置环境

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

(8)安装building package的依赖

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

(9)测试ROS安装成功:

打开Termial，输入以下命令，初始化ROS环境：

roscore

打开新的Termial，输入以下命令，弹出一个小乌龟窗口：

rosrun turtlesim turtlesim_node

 

转载:https://blog.csdn.net/softimite_zifeng/article/details/78632211

（１０）安装过程中遇到了：

(１０．１)

The following packages have unmet dependencies:
 ros-kinetic-desktop-full : Depends: ros-kinetic-desktop but it is not going to be installed
                            Depends: ros-kinetic-perception but it is not going to be installed
                            Depends: ros-kinetic-simulators but it is not going to be installed
                            Depends: ros-kinetic-urdf-tutorial but it is not going to be installed
E: Unable to correct problems, you have held broken packages.

找到的解决方法是：

在sources.list中加上

deb http://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse

然后从第（２）步重新开始执行。

（10.2）执行sudo rosdep init出现：

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.

需要sudo使用 -E 来保留 环境变量配置

sudo -E rosdep init