ROS软件源 ros按装

 ros源

sudo apt update
# 官方源
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
或
# 清华源
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'
或
# 中科大源
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

ros密钥

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

ros依赖

sudo apt install build-essential
sudo apt install libvtk6-jni libvtk6-java libvtk6-dev libvtk6-qt-dev libpcl-dev
sudo apt install ros-melodic-pcl-conversions ros-melodic-pcl-ros ros-melodic-perception-pcl ros-melodic-perception
sudo apt install python-rosdep 
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool

 ros按装

Ubuntu18.04对应的是melodic的版本 其他版本就会报错，出现无法定位软件包的情况

注意 ros版本 后续设环境变量要用到

# 安装ROS
sudo apt install ros-melodic-desktop-full
# 初始化ROS (若报错，请参考异常问题1)
sudo rosdep init
# 更新ROS (若报错，请参考异常问题2)
rosdep update
# 设置环境变量
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc

rosdep按装 建议按装国内rosdepc

不同版本的ROS，安装rosdep的命令有所区别 

ROS Melodic and earlier

sudo apt-get install python-rosdep

ROS Noetic 

sudo apt-get install python3-rosdep

rosdep初始化

sudo rosdep init
rosdep update

 rosdep异常报错解决

ubuntu20.04 ros按装sudo rosdep init ，rosdep update，报错-CSDN博客https://blog.csdn.net/qq_21258589/article/details/140084436?spm=1001.2014.3001.5502

ros设置环境变量 ctrl+h 才能显示 

noetic版

echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

melodic版

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

 

一般是处于隐藏状态，需要按住“ctrl+h”才能显示。添加的变量位于该文件的最后一行 

 验证ros

roscore

ros权限修改

sudo chmod 777 -R ~/.ros/

退出ros ctrl+c 

 安装rosinstall

sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential