Ubuntu16安装ROS Kinetic Kame
一、ROS安装
1. 添加下载源
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
2. 设置密钥
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
3. 更新源
sudo apt-get update
4. 安装完整安装包(时间较长耐心等待…)
sudo apt-get install ros-kinetic-desktop-full -y
二、初始化和环境配置
1. 初始化rosdep
rosdep init
rosdep update
ps:这一步报错可能性很大;
错误及解决
错误信息
方法一(推荐)
第1步
进入到 sources.list.d 文件夹(如果没有,则新建)
修改 gedit 20-default.list
cd /etc/ros/rosdep/sources.list.d
sudo gedit 20-default.list
将里面所有的
raw.githubusercontent.com/ros/rosdistro/master
替换成
gitee.com/wybros/rosdistro/raw/master
修改前:
# os-specific listings first rosdep update
yaml https://gitee.com/wybros/rosdistro/raw/master/rosdep/osx-homebrew.yaml osx
# generic
yaml https://gitee.com/wybros/rosdistro/raw/master/rosdep/base.yaml
yaml https://gitee.com/wybros/rosdistro/raw/master/rosdep/python.yaml
yaml https://gitee.com/wybros/rosdistro/raw/master/rosdep/ruby.yaml
gbpdistro https://gitee.com/wybros/rosdistro/raw/master/releases/fuerte.yaml fuerte
# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead
修改后:
# os-specific listings first rosdep update
yaml https://gitee.com/wybros/rosdistro/raw/master/rosdep/osx-homebrew.yaml osx
# generic
yaml https://gitee.com/wybros/rosdistro/raw/master/rosdep/base.yaml
yaml https://gitee.com/wybros/rosdistro/raw/master/rosdep/python.yaml
yaml https://gitee.com/wybros/rosdistro/raw/master/rosdep/ruby.yaml
gbpdistro https://gitee.com/wybros/rosdistro/raw/master/releases/fuerte.yaml fuerte
# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead
第2步:
进入到 rosdep2 文件夹,
修改 gbpdistro_support.py
cd /usr/lib/python2.7/dist-packages/rosdep2/
sudo gedit gbpdistro_support.py
将里面所有的
raw.githubusercontent.com/ros/rosdistro/master
替换成
gitee.com/wybros/rosdistro/raw/master
修改后如下
FUERTE_GBPDISTRO_URL = 'https://gitee.com/wybros/rosdistro/raw/' \
'master/releases/fuerte.yaml'
第3步
进入到 rosdep2 文件夹,
修改 rep3.py
cd /usr/lib/python2.7/dist-packages/rosdep2/
sudo gedit rep3.py
将里面所有的
raw.githubusercontent.com/ros/rosdistro/master
替换成
gitee.com/wybros/rosdistro/raw/master
修改后如下
REP3_TARGETS_URL = 'https://gitee.com/wybros/rosdistro/raw/master/releases/targets.yaml'
第4步
进入到 rosdep2 文件夹,
修改 sources_list.py
cd /usr/lib/python2.7/dist-packages/rosdep2/
sudo gedit sources_list.py
将里面所有的
raw.githubusercontent.com/ros/rosdistro/master
替换成
gitee.com/wybros/rosdistro/raw/master
修改后如下
DEFAULT_SOURCES_LIST_URL = 'https://gitee.com/wybros/rosdistro/raw/master/rosdep/sources.list.d/20-default.list'
第5步
进入到 rosdistro 文件夹
修改 init.py
cd /usr/lib/python2.7/dist-packages/rosdistro/
sudo gedit __init__.py
将里面所有的
raw.githubusercontent.com/ros/rosdistro/master
替换成
gitee.com/wybros/rosdistro/raw/master
修改后如下
DEFAULT_INDEX_URL = 'https://gitee.com/wybros/rosdistro/raw/master/index-v4.yaml'
最后
打开终端,输入
rosdep update
完美解决(主要还是网络原因)
方法二(B站赵老师方法)
方法三(亲测有效):鱼香ROS自己写的rosdepc
2. 环境配置(修改~/.bashrc文件)
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
3. 安装rosinstall
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential
三、小海龟测试程序
1. 启动ROS Master(节点管理器):打开一个终端(ctrl+alt+t),输入
roscore
2. 启动海龟仿真程序:打开一个终端(ctrl+alt+t),输入
rosrun turtlesim turtlesim_node
#rosrun为ROS命令行工具: rosrun 节点包 节点名
3. 启动海龟控制节点:打开一个终端(ctrl+alt+t),输入
rosrun turtlesim turtle_teleop_key
ps:Tab键能显示当前节点包下的节点信息
结语
通用安装完成,如果还需要更多操作,需要下载相关依赖和扩展,比如无人机还需要大疆SDK等。