ros安装:
1.设置安装源
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key
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
3.安装
sudo apt-get update
sudo apt-get install ros-kinetic-desktop-full
4.初始化(不能成功的话,将下载的rosdep压缩包放在etc/ros里面)
sudo rosdep init
(安装一次后只能运行一次,若重新安装选择跳过或卸载)
rosdep update
5.配置环境变量echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
打开另一个终端:source ~/.bashrc
6.安装rosinstallsudo apt-get install python-rosinstall
ros卸载:
sudo apt-get purge ros-*
sudo rm -rf /etc/ros
gedit ~/.bashrc
找到:带有kinetic的那一行删除,保存,然后:
source ~/.bashrc
测试ROS安装成功
1) 打开Termial,输入以下命令,初始化ROS环境:
roscore
2) 打开新的Termial,输入以下命令,弹出一个小乌龟窗口:
rosrun turtlesim turtlesim_node
3) 打开新的Termial,输入以下命令,可以在Termial中通过方向键控制小乌龟的移动:rosrun
turtlesim turtle_teleop_key
4) 打开新的Termial,输入以下命令,弹出新的窗口查看ROS节点信息:
rosrun rqt_graph rqt_graph
ros相关包
sudo apt-get install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control
sudo apt-get install ros-kinetic-moveit-ros-planning-interface
sudo apt-get install ros-kinetic-moveit
sudo apt-get install ros-kinetic-industrial-msgs
sudo apt-get install ros-kinetic-joint-state-controller
sudo apt-get install ros-kinetic-effort-controllers
sudo apt-get install ros-kinetic-position-controllers
sudo apt install ros-melodic-rviz-visual-tools
sudo apt install ros-melodic-moveit-visual-tools
robotiq:
sudo apt-get install ros-kinetic-socketcan-interface
sudo apt-get install ros-kinetic-soem
sudo apt install ros-kinetic-joint-state-publisher-gui
realsense:
注册服务器的公钥:
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
如果仍无法检索公钥,请检查并指定代理设置:
export http_proxy="http://<proxy>:<port>"
,然后重新运行命令。参见以下附加方法链接 .
将服务器添加到存储库列表:
sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u
安装库(如果升级软件包,请参阅下面的部分):
sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils
上面两行代码将部署librealsense2udev规则,构建和激活内核模块、运行库和可执行的演示和工具。
可选地安装开发人员和调试包:
sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dbg