之前用虚拟机直接安装打包好的Ubuntu+ROS+turtlebot的iso镜像,省却了自己安装的繁琐,但是后续发现了很多问题让我不得不重新自己安装搭一遍环境,发现并解决问题。
首先 ROS Indigo只适用于ubuntu的Saucy(13.10)和Trusty(14.04)版本
lsb_release -a 可查系统版本
在ubuntu设置界面点选restricted universe 和 multiverse
ROS
加入ROS源
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
更新源
sudo apt-get update
解决依赖的问题
sudo apt-get install libgl1-mesa-dev-lts-trusty
安装系统
sudo apt-get install ros-indigo-desktop-full
初始化rosdep(为源安装系统依赖的工具)
sudo rosdep init
sudo rosdep update
设定环境变量
echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
source ~/.bashrc
安装ROS命令行工具rosinstall
sudo apt-get install python-rosinstall
Turtlebot
turtlebot ubuntu包安装
sudo apt-get install ros-indigo-turtlebot ros-indigo-turtlebot-apps ros-indigo-turtlebot-interactions ros-indigo-turtlebot-simulator ros-indigo-kobuki-ftdi ros-indigo-rocon-remocon ros-indigo-rocon-qt-library ros-indigo-ar-track-alvar-msgs
配置环境变量
# For a deb installation
> echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc