在Ubuntu18.04安装ros
ros环境安装
- 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'
- 添加公钥
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
- 更新软件源
sudo apt-get update
- 安装ros的桌面版
sudo apt-get install ros-melodic-desktop-full
- 初始化并更新:(这里针对于无法科学上网,如果可以的话请往下看)
sudo apt-get install python3-pip
sudo pip3 install rosdepc -i https://pypi.tuna.tsinghua.edu.cn/simple
sudo rosdepc init
rosdepc update
- 添加环境变量
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
- 安装包编译依赖
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential
创建ros工作空间
初始化工作空间
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
编译工作空间
cd ~/catkin_ws/
catkin_make
配置环境变量
source devel/setup.bash
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
检测是否成功:
echo $ROS_PACKAGE_PATH