1.添加ros软件源
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list‘
2.添加密钥
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
3.安装ros
sudo apt update
sudo apt install ros-melodic-desktop-full
4.初始化roedep
sudo rosdep init
rosdep update
5.设置环境变量
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
6.安装rosinstall
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential
7.启动rosmaster(注7,8,9需要分别打开终端)
roscore
8. 启动小乌龟仿真器
rosrun turtlesim turtlesim_node
9.启动小乌龟控制节点
rosrun turtlesim turtle_teleop_key
键盘中的上下左右移动小乌龟
字母’q'退出