Ubuntu16.04安装ROS kinetic(通过镜像服务器,提升下载速度)
前言:国内访问国外的网站速度慢,这里介绍通过镜像服务器安装,提升下载速度。
备份镜像源
按Ctrl+Alt+T打开终端,输入如下指令:
cd /etc/apt/
cp sources.list sources.list.old
修改数据源
复制镜像源代码:
deb http://mirrors.aliyun.com/ubuntu/ xenial main
deb-src http://mirrors.aliyun.com/ubuntu/ xenial main
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates main
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-updates main
deb http://mirrors.aliyun.com/ubuntu/ xenial universe
deb-src http://mirrors.aliyun.com/ubuntu/ xenial universe
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates universe
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-updates universe
deb http://mirrors.aliyun.com/ubuntu/ xenial-security main
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-security main
deb http://mirrors.aliyun.com/ubuntu/ xenial-security universe
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-security universe
修改source.list文件:
sudo gedit /etc/apt/sources.list
使用ustc镜像源
sudo sh -c ‘echo “deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $(lsb_release -sc) main” > /etc/apt/sources.list.d/ros-latest.list’
设置密钥
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
安装ROS
更新系统软件处于最新版:
sudo apt-get update
然后开始安装 ROS:
sudo apt-get install ros-kinetic-desktop-full
初始化ROS
首先需要先初始化 rosdep:
sudo rosdep init
rosdep update
然后初始化环境变量:
echo “source /opt/ros/kinetic/setup.bash” >> ~/.bashrc
source ~/.bashrc
测试ROS
首先,启动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
打开新的Termial,输入以下命令,可以在Termial中通过方向键控制小乌龟的移动:
rosrun turtlesim turtle_teleop_key