1.可直接依据官网教程安装,Ros Noetic官网: noetic/Installation/Ubuntu - ROS Wiki
2.设置下载源
官方:sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
清华: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'
中科大:sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
其他镜像源可见于官方网站:ROS/Installation/UbuntuMirrors - ROS Wiki
3.设置秘钥
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
4.更新软件包
sudo apt update
5.推荐安装桌面完整版
sudo apt install ros-noetic-desktop-full
其他版本:
sudo apt install ros-noetic-desktop
sudo apt install ros-noetic-ros-base
6.设置环境变量
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
7.包的依赖项加载
sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
8.初始化 rosdep
sudo apt install python3-rosdep
sudo rosdep init
rosdep update
9.验证安装
(1)输入ros 双击tab键查看已安装项目。
(2)输入roscore,验证是否能运行。