工控机启动盘安装ubuntu18.04+ros环境步骤

工控机启动盘安装ubuntu18.04+ros环境步骤

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准备：一个ubuntu启动盘（装好Gparted, systemback)。

一、ubuntu安装

1. 工控机接好电源，连好显示器（2条）和鼠标，插好启动盘
2. 从U盘进入系统：开机瞬间多次按F11(有的是F8、F10、F12、DEL等）进入Boot模式。我这里选择第二个SANSUNG Drive 1100，然后选择第一个ubuntu选项，进入桌面。
3. 进入桌面后，进入Gparted，为磁盘分区，示例如下：

   

4. 进入systemback，选择系统安装，填写内容，挂载相应分区，示例如下：
5. 安装系统完成后，重启ubuntu。

二、ros环境配置

这里参考blog:

Ubuntu18.04安装Ros(最新最详细亲测)_向日葵骑士Faraday的博客-CSDN博客

1.检查Unbuntu的软件和更新源

2.设置Ros的下载源

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'

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

sudo apt update

3.安装ROS

sudo apt install ros-melodic-desktop-full

4.设置环境变量

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc

5.下载其他功能组件

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential

6.rosdep init 初始化

sudo rosdep init

出错如下设置：

sudo gedit /etc/hosts

粘贴进去：

199.232.28.133 raw.githubusercontent.com
192.30.253.118 gist.github.com
185.199.110.153 github.io
151.101.113.194 github.global.ssl.fastly.net
52.216.227.168 github-cloud.s3.amazonaws.com
52.74.223.119 github.com
199.232.28.133 avatars1.githubusercontent.com
199.232.28.133 avatars2.githubusercontent.com
199.232.28.133 avatars0.githubusercontent.com
199.232.28.133 avatars3.githubusercontent.com
199.232.28.133 user-images.githubusercontent.com
199.232.28.133 avatars.githubusercontent.com
199.232.28.133 github.map.fastly.net
199.232.28.133 avatars7.githubusercontent.com
54.239.31.69 aws.amazon.com
54.239.30.25 console.aws.amazon.com
54.239.96.90 ap-northeast-1.console.aws.amazon.com
54.240.226.81 ap-southeast-1.console.aws.amazon.com
54.240.193.125 ap-southeast-2.console.aws.amazon.com
54.239.54.102 eu-central-1.console.aws.amazon.com
177.72.244.194 sa-east-1.console.aws.amazon.com
176.32.114.59 eu-west-1.console.aws.amazon.com
54.239.31.128 us-west-1.console.aws.amazon.com
54.240.254.230 us-west-2.console.aws.amazon.com
54.239.38.102 s3-console-us-standard.console.aws.amazon.com
54.231.49.3 s3.amazonaws.com
52.219.0.4 s3-ap-northeast-1.amazonaws.com
54.231.242.170 s3-ap-southeast-1.amazonaws.com
54.231.251.21 s3-ap-southeast-2.amazonaws.com
54.231.193.37 s3-eu-central-1.amazonaws.com
52.218.16.140 s3-eu-west-1.amazonaws.com
52.92.72.2 s3-sa-east-1.amazonaws.com
54.231.236.6 s3-us-west-1.amazonaws.com
54.231.168.160 s3-us-west-2.amazonaws.com
52.216.80.48 github-cloud.s3.amazonaws.com
54.231.40.3 github-com.s3.amazonaws.com
52.216.20.171 github-production-release-asset-2e65be.s3.amazonaws.com
52.216.228.168 github-production-user-asset-6210df.s3.amazonaws.com

然后，

sudo gedit /etc/resolv.conf

将原有的nameserver那一行注释，并添加以下两行后保存：

nameserver 8.8.8.8 #google域名服务器
nameserver 8.8.4.4 #google域名服务器

sudo rosdep init

可能有如下报错：

ERROR: default sources list file already exists: /etc/ros/rosdep/sources.list.d/20-default.list

Please delete if you wish to re-initialize

这说明20-default.list 这个文件已经存在

解决办法：删除20-default.list这个文件。

1.终端输入以下命令并回车删除文件：

sudo rm /etc/ros/rosdep/sources.list.d/20-default.list，

2.再次执行：sudo rosdep init

显示如下信息，则rosdep初始化成功

wrote /etc/ros/rosdep/sources.list.d/20-default.list

Recommended: please run

rosdep update

7.rosdep update 更新（手机开热点很有效，值得一试）

rosdep update

多次执行试试，不然用rosdepc也可。

成功安装ros

8.检查安装情况：运行小海龟和rviz

roscore

rosrun turtlesim turtlesim_node

rosrun turtlesim turtle_teleop_key

rosrun rviz rviz 

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最后，配置工控机的ip地址，以可远程连接。