Hyper-V安装Ubuntu18.04 LTS+ROS(melodic)

Hyper-V安装Ubuntu18.04 LTS+ROS(melodic)

记录在Win10中使用自带的Hyper-V来创建虚拟机，安装ROS

Hyper -V安装Ubuntu18.04 LTS

开启Hyper -V

Win10虽自带了Hyper-V，但默认是关闭的，我们可以通过在"启用或关闭Windows功能"中勾选"Hyper-V"来开启，注意点击确认后需要重启（家庭版参考）。

重启完成之后，点击Windows+S键输入"Hyper-V"进行搜索，会出现"Hyper-V管理器"应用，点击Hyper-V管理器后出现Hyper-V管理器的主界面

创建虚拟机

安装本地镜像

Ubuntu镜像下载，清华大学镜像站地址
Centos镜像，清华大学镜像站地址

最终没有成功
遇到两个问题：

• start pxe over ipv4
• (initramfs)unable to find a medium containing a live file

远端镜像安装

点击左边即可下载安装

成功！
测试发现网络已经配置好，且已经共享了剪切板等。

Ubuntu配置

• apt换源，桌面菜单–》系统设置–》软件和更新–》下载自–》其他站点，选阿里，中科大，清华等等都可以

  sudo apt update
  sudo apt upgrade

• pip换源

  cd ~/.pip
  如果不存在.pip则创建目录
  mkdir ~/.pip
  cd ~/.pip
  touch pip.conf
  sudo gedit ~/.pip/pip.conf
  在pip.conf中写入如下内容：即可
  [global]
  index-url = https://pypi.tuna.tsinghua.edu.cn/simple/
  [install]
  trusted-host = pypi.tuna.tsinghua.edu.cn

• 常用工具

  sudo apt install net-tools
  sudo apt install -y terminator vim
  sudo apt install -y git wget curl
  sudo apt-get install -y build-essential checkinstall
  sudo apt-get install -y libffi-dev libssl-dev openssl
  sudo apt update

vscode
建议去官网下载

wget https://vscode.cdn.azure.cn/stable/f80445acd5a3dadef24aa209168452a3d97cc326/code_1.64.2-1644445741_amd64.deb
sudo dpkg -i code_1.64.2-1644445741_amd64.deb

安装ROS

官网安装教程

#Setup your sources.list
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'


#Set up your keys
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

没反应则手动添加
进入上诉网址

拷贝整段至 ros.asc

vim ros.asc
sudo apt-key add ros.asc
sudo apt update


# Installation
sudo apt install ros-melodic-desktop-full
#Dependencies for building packages
sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
sudo rosdep init
rosdep update

rosdep update失败参考
最后效果：

xxx@xxx~/$ rosdep update
reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
Query rosdistro index https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml
Skip end-of-life distro "ardent"
Skip end-of-life distro "bouncy"
Skip end-of-life distro "crystal"
Skip end-of-life distro "dashing"
Skip end-of-life distro "eloquent"
Add distro "foxy"
Add distro "galactic"
Skip end-of-life distro "groovy"
Skip end-of-life distro "hydro"
Skip end-of-life distro "indigo"
Skip end-of-life distro "jade"
Skip end-of-life distro "kinetic"
Skip end-of-life distro "lunar"
Add distro "melodic"
Add distro "noetic"
Add distro "rolling"
updated cache in /home/xrl/.ros/rosdep/sources.cache


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

测试安装

xxx@xxx:~/download$ roscore 
... logging to /home/xrl/.ros/log/9d662dee-a227-11ec-8771-00155d921506/roslaunch-xrl-Virtual-Machine-24031.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://xrl-Virtual-Machine:36525/
ros_comm version 1.14.12


SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.12

NODES

auto-starting new master
process[master]: started with pid [24042]
ROS_MASTER_URI=http://xrl-Virtual-Machine:11311/

setting /run_id to 9d662dee-a227-11ec-8771-00155d921506
process[rosout-1]: started with pid [24053]
started core service [/rosout]


rviz