ROS kinetic安装

Ubuntu install of ROS Kinetic
We are building Debian packages for several Ubuntu platforms, listed below. These packages are more efficient than source-based builds and are our preferred installation method for Ubuntu. Note that there are also packages available from Ubuntu upstream. Please see UpstreamPackages to understand the difference.

Ubuntu packages are built for the following distros and architectures.

Distro

amd64

i386

armhf

Wily

X

X

Xenial

X

X

X

If you need to install from source (not recommended), please see source (download-and-compile) installation instructions.

If you rely on these packages, please support OSRF.

These packages are built and hosted on infrastructure maintained and paid for by the Open Source Robotics Foundation, a 501©(3) non-profit organization. If OSRF were to receive one penny for each downloaded package for just two months, we could cover our annual costs to manage, update, and host all of our online services. Please consider donating to OSRF today.

Contents

Ubuntu install of ROS Kinetic
Installation
Configure your Ubuntu repositories
Setup your sources.list
Set up your keys
Installation
Environment setup
Dependencies for building packages
Build farm status
Tutorials

Installation
ROS Kinetic ONLY supports Wily (Ubuntu 15.10), Xenial (Ubuntu 16.04) and Jessie (Debian 8) for debian packages.

Configure your Ubuntu repositories
Configure your Ubuntu repositories to allow “restricted,” “universe,” and “multiverse.” You can follow the Ubuntu guide for instructions on doing this.

Setup your sources.list
Setup your computer to accept software from packages.ros.org.

sudo sh -c ‘echo “deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main” > /etc/apt/sources.list.d/ros-latest.list’

Mirrors：

Source Debs are also available

Set up your keys
sudo apt-key adv --keyserver ‘hkp://keyserver.ubuntu.com:80’ --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
If you experience issues connecting to the keyserver, you can try substituting hkp://pgp.mit.edu:80 or hkp://keyserver.ubuntu.com:80 in the previous command.

Alternatively, you can use curl instead of the apt-key command, which can be helpful if you are behind a proxy server:

curl -sSL ‘http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654’ | sudo apt-key add -
Installation
First, make sure your Debian package index is up-to-date:

sudo apt-get update
There are many different libraries and tools in ROS. We provided four default configurations to get you started. You can also install ROS packages individually.

In case of problems with the next step, you can use following repositories instead of the ones mentioned above ros-shadow-fixed

Desktop-Full Install: (Recommended) : ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception

sudo apt-get install ros-kinetic-desktop-full
or click here

Desktop Install: ROS, rqt, rviz, and robot-generic libraries

sudo apt-get install ros-kinetic-desktop
or click here

ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools.

sudo apt-get install ros-kinetic-ros-base
or click here

Individual Package: You can also install a specific ROS package (replace underscores with dashes of the package name):

sudo apt-get install ros-kinetic-PACKAGE
e.g.
sudo apt-get install ros-kinetic-slam-gmapping
To find available packages, use:

apt-cache search ros-kinetic

Environment setup
It’s convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched:

echo “source /opt/ros/kinetic/setup.bash” >> ~/.bashrc
source ~/.bashrc
If you have more than one ROS distribution installed, ~/.bashrc must only source the setup.bash for the version you are currently using.

If you just want to change the environment of your current shell, instead of the above you can type:

source /opt/ros/kinetic/setup.bash
If you use zsh instead of bash you need to run the following commands to set up your shell:

echo “source /opt/ros/kinetic/setup.zsh” >> ~/.zshrc
source ~/.zshrc
Dependencies for building packages
Up to now you have installed what you need to run the core ROS packages. To create and manage your own ROS workspaces, there are various tools and requirements that are distributed separately. For example, rosinstall is a frequently used command-line tool that enables you to easily download many source trees for ROS packages with one command.

To install this tool and other dependencies for building ROS packages, run:

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
Initialize rosdep
Before you can use many ROS tools, you will need to initialize rosdep. rosdep enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS. If you have not yet installed rosdep, do so as follows.

sudo apt install python-rosdep
With the following, you can initialize rosdep.

sudo rosdep init
rosdep update
Build farm status
The packages that you installed were built by the ROS build farm. You can check the status of individual packages here.

Tutorials
Now, to test your installation, please proceed to the ROS Tutorials.

Wiki: kinetic/Installation/Ubuntu (last edited 2021-01-19 21:24:05 by TullyFoote)
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