目录
一.ROS软件安装
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.设置密钥
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
3.安装ROS文件
执行以下命令安装ROS
sudo apt install ros-melodic-desktop-full
4.初始化ROS
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
二.ROS例程
1.Workspace创建
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws
catkin_make
2.运行小海龟
终端输入命令:roscore
打开第二个终端输入 rosrun turtlesim turtlesim_node
打开第三个终端输入 rosrun turtlesim turtle_teleop_key
之后就可以通过方向键控制小海龟的移动