Ubuntu18.04完美安装ROS melodic
1、换源
建议更换到阿里源,按照官方教程即可。
2、源安装
1、设置软件源
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
2、设置密钥
当前官网:
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
备用:
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654
3、开始安装
sudo apt update
sudo apt install ros-melodic-desktop-full
## sudo apt-get install ros-melodic-rqt*
4、配置环境
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
5、安装依赖
sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
6、初始化rosdep
sudo apt install python-rosdep
sudo rosdep init
rosdep update
sudo rosdep init 报错:可能网址损坏,解决办法:
#打开hosts文件
sudo gedit /etc/hosts
#在文件末尾添加
151.101.84.133 raw.githubusercontent.com
#保存后退出再尝试
7、安装rosinstall
sudo apt-get install python-rosinstall
8、加载环境设置
source /opt/ros/melodic/setup.bash
9、创建并初始化工作目录
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
目前,只有src目录和CMakeLists.txt文件在catkin工作目录中,使用catkin_make命令来构建,
cd ~/catkin_ws/
catkin_make
10、设置环境变量
sudo apt install net-tools
gedit ~/.bashrc
# Set ROS melodic
source /opt/ros/melodic/setup.bash
source ~/catkin_ws/devel/setup.bash
# Set ROS Network
#ifconfig查看你的电脑ip地址
export ROS_HOSTNAME=192.168.89.135
export ROS_MASTER_URI=http://${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'
11、小海龟测试(分别在三个终端执行下面三行指令)
roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key
附注:由于需要,我只运行到第六步就满足需要了,遇到小问题基本百度一下就解决,没什么大问题!