Ubuntu16.04LTS安装ROS测试小海龟样例

一、参考资料

在Ubuntu中安装ROS Kinetic
ROS安装ubuntu16.04 无需科学上网解决sudo rosdep init初始化问题
Getting started with ROS and Docker

二、安装ROS关键步骤

1. 选择ROS版本

ROS安装选择

• Ubuntu版本不同，对应安装的ROS版本也不同，务必版本对齐；
• Kinetic Kame 版本的ROS对应python2.7，修改python版本可能导致ros无法使用；
• ~/.bashrc文件里不能同时存在anaconda与ros的环境变量设置，两个环境变量一次只能使用一个；
• 一个终端下，ROS的环境变量和anaconda的环境变量只能开一个。开anaconda的python3的环境运行ROS，很多ROS包无法正常调用；

ROS版本	Ubuntu版本	python版本
ROS Kinetic Kame	Ubuntu16.04LTS	python2.7
ROS Melodic Morenia	Ubuntu18.04LTS
ROS Noetic Ninjemys	Ubuntu20.04LTS

Kinetic Kame 版本 作为ROS较老的版本，默认基于python2.7运行，适用于Ubuntu16.04。本文以Ubuntu16.04LTS系统为例，安装 Kinetic Kame 版本的ROS。

2. 配置Ubuntu软件仓库

配置Ubuntu软件仓库（repositories），勾选“restricted”，“universe”和“multiverse”。

3. 设置 sources.list

# 设置安装源
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. 设置密钥

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

5. 安装ROS

# 更新源
sudo apt update

# 安装ROS
sudo apt-get install ros-kinetic-desktop-full

6. 初始化 rosdep

在开始使用ROS之前需要初始化rosdep。rosdep可以在编译某些源码的时为其安装一些系统依赖，同时也是某些ROS核心功能组件所必需用到的工具。

# 初始化 rosdep
sudo rosdep init
rosdep update

(demo) yoyo@yoyo:/usr/lib/python2.7/dist-packages/rosdistro$ sudo rosdep init
Wrote /etc/ros/rosdep/sources.list.d/20-default.list
Recommended: please run

	rosdep update

(demo) yoyo@yoyo:/usr/lib/python2.7/dist-packages/rosdistro$ rosdep update
reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
Query rosdistro index file:///home/yoyo/Downloads/rosdistro/index-v4.yaml
Skip end-of-life distro "ardent"
Skip end-of-life distro "bouncy"
Skip end-of-life distro "crystal"
Skip end-of-life distro "dashing"
Skip end-of-life distro "eloquent"
Skip end-of-life distro "foxy"
Skip end-of-life distro "galactic"
Skip end-of-life distro "groovy"
Add distro "humble"
Skip end-of-life distro "hydro"
Skip end-of-life distro "indigo"
Add distro "iron"
Skip end-of-life distro "jade"
Skip end-of-life distro "kinetic"
Skip end-of-life distro "lunar"
Skip end-of-life distro "melodic"
Add distro "noetic"
Add distro "rolling"
updated cache in /home/yoyo/.ros/rosdep/sources.cache

7. 配置环境变量

# 配置环境变量
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

三、测试ROS turtlesim小海龟样例

如何在 Ubuntu 18.04.1 LTS 上安装 ROS Melodic 的详细过程

在ROS中运行小海龟，执行步骤如下：

1. 启动roscore

# 打开新终端，启动roscore
roscore

yoyo@yoyo:/usr/lib/python2.7/dist-packages/rosdistro$ roscore
... logging to /home/yoyo/.ros/log/d3752a5e-2ac3-11ee-9ef5-18c04d9e91e3/roslaunch-yoyo-32650.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://yoyo:36853/
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
process[master]: started with pid [32661]
ROS_MASTER_URI=http://yoyo:11311/

setting /run_id to d3752a5e-2ac3-11ee-9ef5-18c04d9e91e3
process[rosout-1]: started with pid [32674]
started core service [/rosout]

2. 启动小海龟节点

# 打开新终端，启动小海龟节点
rosrun turtlesim turtlesim_node

(demo) yoyo@yoyo:~$ rosrun turtlesim turtlesim_node
[ INFO] [1690273390.857742853]: Starting turtlesim with node name /turtlesim
[ INFO] [1690273390.860713835]: Spawning turtle [turtle1] at x=[5.544445], y=[5.544445], theta=[0.000000]

3. 启动小海龟运动控制节点

# 打开新终端，启动小海龟运动控制节点
rosrun turtlesim turtle_teleop_key

yoyo@yoyo:~$ rosrun turtlesim turtle_teleop_key
Reading from keyboard
---------------------------
Use arrow keys to move the turtle.

4. 解析说明

• rosrun：在ROS包中运行节点；
• turtlesim：这是ROS中一个用于演示机器人控制的软件包；
• turtlesim_node：这是turtlesim软件包中的一个节点，用于在屏幕上绘制小海龟；
• turtle_teleop_key：这是turtlesim软件包中另一个节点，它可以通过键盘上的方向键来控制小海龟的运动。

执行 rosrun turtlesim turtlesim_node 时，计算机会启动一个节点，用于在屏幕上绘制小海龟。当执行 rosrun turtlesim turtle_teleop_key 时，计算机会启动另一个节点，该节点将通过键盘控制小海龟的运动。

四、FAQ

Q：E：无法定位软件包 ros-noetic-desktop-full

错误原因：
ROS版本与Ubuntu版本不匹配

解决办法：
安装合适的ROS版本

Q：设置密钥不成功

(demo) yoyo@yoyo:~$ sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
Executing: /tmp/tmp.N32dAXh9fh/gpg.1.sh --keyserver
hkp://keyserver.ubuntu.com:80
--recv-key
C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
gpg: 下载密钥‘AB17C654’，从 hkp 服务器 keyserver.ubuntu.com
gpg: 密钥 AB17C654：“Open Robotics <info@osrfoundation.org>”未改变
gpg: 合计被处理的数量：1
gpg:              未改变：1
(demo) yoyo@yoyo:~$ curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | sudo apt-key add -
程序“curl”尚未安装。 您可以使用以下命令安装：
sudo apt install curl
gpg: 找不到有效的 OpenPGP 数据。
(demo) yoyo@yoyo:~$ sudo apt-key adv --keyserver 'hkp://pgp.mit.edu:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
Executing: /tmp/tmp.LQAFHhtZPo/gpg.1.sh --keyserver
hkp://pgp.mit.edu:80
--recv-key
C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
gpg: 下载密钥‘AB17C654’，从 hkp 服务器 pgp.mit.edu
gpg: 密钥 AB17C654：“Open Robotics <info@osrfoundation.org>”未改变
gpg: 合计被处理的数量：1
gpg:              未改变：1

错误原因：
无法连接到密钥服务器

解决办法：
wget http://packages.ros.org/ros.key
sudo apt-key add ros.key

Q：ERROR: cannot download default sources list from:

(demo) yoyo@yoyo:~$ sudo rosdep init
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.

错误原因：
无法连接到国外服务器，导致初始化 rosdep失败

解决办法

1. 下载rosdistro功能包；

   git clone https://github.com/ros/rosdistro.git
   

2. 修改文件 20-default.list；

   修改 rosdistro/rosdep/sources.list.d/20-default.list 文件，将url改为本地文件地址。

   # os-specific listings first
   yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx
   
   # generic
   yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
   yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
   yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
   gbpdistro https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml fuerte
   
   # newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead
   

   修改为

   # os-specific listings first
   yaml file:///home/yoyo/Downloads/rosdistro/rosdep/osx-homebrew.yaml osx
   
   # generic
   yaml file:///home/yoyo/Downloads/rosdistro/rosdep/base.yaml
   yaml file:///home/yoyo/Downloads/rosdistro/rosdep/python.yaml
   yaml file:///home/yoyo/Downloads/rosdistro/rosdep/ruby.yaml
   gbpdistro file:///home/yoyo/Downloads/rosdistro/releases/fuerte.yaml fuerte
   
   # newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead
   

3. 修改文件 sources_list.py；

   修改 /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py 文件，将url改为本地文件地址。

   DEFAULT_SOURCES_LIST_URL = 'https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list'
   

   修改为

   DEFAULT_SOURCES_LIST_URL = 'file:///home/yoyo/Downloads/rosdistro/rosdep/sources.list.d/20-default.list'
   

4. 修改文件 rep3.py；

   修改 /usr/lib/python2.7/dist-packages/rosdep2/rep3.py 文件，将url改为本地文件地址。

   REP3_TARGETS_URL = 'https://raw.githubusercontent.com/ros/rosdistro/master/releases/targets.yaml'
   

   修改为

   REP3_TARGETS_URL = 'file:///home/yoyo/Downloads/rosdistro/releases/targets.yaml'
   

5. 修改文件 __init__.py；

   修改 /usr/lib/python2.7/dist-packages/rosdistro/__init__.py 文件，将url改为本地文件地址。

   DEFAULT_INDEX_URL = 'https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml'
   

   修改为

   DEFAULT_INDEX_URL = 'file:///home/yoyo/Downloads/rosdistro/index-v4.yaml'
   

Q：ERROR: default sources list file already exists:

ERROR: default sources list file already exists:
	/etc/ros/rosdep/sources.list.d/20-default.list
Please delete if you wish to re-initialize

错误原因：
重复初始化，导致初始化 rosdep失败

解决办法：
删除20-default.list文件，重新初始化

sudo rm -r /etc/ros/rosdep/sources.list.d/20-default.list
sudo rosdep init
rosdep update

Q：程序“rosrun”尚未安装。 您可以使用以下命令安装：

(demo) yoyo@yoyo:/media/yoyo/U$ rosrun turtlesim turtlesim_node
程序“rosrun”尚未安装。 您可以使用以下命令安装：
sudo apt install rosbash

错误原因：
环境变量未生效

解决办法：
配置环境变量，重新打开终端
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

Q：ImportError: /opt/ros/kinetic/lib/python2.7/dist-packages/cv2.so: undefined symbol: PyCObject_Type

ImportError: /opt/ros/kinetic/lib/python2.7/dist-packages/cv2.so: undefined symbol: PyCObject_Type

解决python3.5无法导入cv2.so的问题

(demo) yoyo@yoyo:~$ python
Python 3.9.6 (default, Aug 18 2021, 19:38:01) 
[GCC 7.5.0] :: Anaconda, Inc. on linux
Type "help", "copyright", "credits" or "license" for more information.
>>> import pykitti
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File "/home/yoyo/miniconda3/envs/demo/lib/python3.9/site-packages/pykitti/__init__.py", line 5, in <module>
    from pykitti.tracking import tracking
  File "/home/yoyo/miniconda3/envs/demo/lib/python3.9/site-packages/pykitti/tracking.py", line 12, in <module>
    import cv2
ImportError: /opt/ros/kinetic/lib/python2.7/dist-packages/cv2.so: undefined symbol: PyCObject_Type
>>> 
KeyboardInterrupt

错误原因：
安装ROS时，ROS的环境变量覆盖了Anaconda的环境变量
ROS默认的PYTHONPATH为python2.7
具体参见 /opt/ros/kinetic/_setup_util.py文件中的PYTHONPATH

默认使用 /opt/ros/kinetic/lib/python2.7/dist-packages/cv2.so

方法一（亲测有效）

退出Anaconda虚拟环境，在python2.7环境中安装kitti2bag

方法二

在python文件中，清除ROS的环境变量。

import sys
sys.path.remove('/opt/ros/kinetic/lib/python2.7/dist-packages')

(demo) yoyo@yoyo:~$ python
Python 3.9.6 (default, Aug 18 2021, 19:38:01) 
[GCC 7.5.0] :: Anaconda, Inc. on linux
Type "help", "copyright", "credits" or "license" for more information.
>>> import sys
>>> sys.path.remove('/opt/ros/kinetic/lib/python2.7/dist-packages')
>>> import cv2
>>>