Ubantu18.04安装ros

Ubantu18.04安装ros

1.打开“软件与更新”，设置软件源为清华源

2.设置软件源

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’

3.设置密钥

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

4.更新软件

sudo apt update

5.安装依赖库

sudo apt install libvtk6-jni libvtk6-java libvtk6-dev libvtk6-qt-dev libpcl-dev

sudo apt install ros-melodic-pcl-conversions ros-melodic-pcl-ros ros-melodic-perception-pcl ros-melodic-perception

6.安装ros

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

7.初始化ros

sudo rosdep init

sudo rosdep fix-permissions

rosdep update

update的时候我失败了好几次，可能是网络原因，多试几次应该就可以了

8.配置环境变量

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

echo “source ~/catkin_ws/devel/setup.bash” >> ~/.bashrc

source ~/.bashrc

9.安装rosinstall

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

10.测试

终端输入roscore

打开一个新终端输入rosrun turtlesim turtlesim_node

再打开一个新终端输入rosrun turtlesim turtle_teleop_key

用方向键控制小海龟