ubuntu 18.04.1 ros环境搭建按装

1.换源

按装gedi

sudo apt install gedit

备份源

sudo cp /etc/apt/sources.list /etc/apt/sources.backup

编辑源

sudo gedit /etc/apt/sources.list

查看版本号

lsb_release -a

 bionic源

deb https://mirrors.ustc.edu.cn/ubuntu/ bionic main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic main restricted universe multiverse

deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-security main restricted universe multiverse

deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse

deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse

## Not recommended
# deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse
# deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse

让源生效

sudo apt update

 

2.添加ros软件源

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

添加密钥

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

让源生效

sudo apt update

解决 GLib-ERROR按装 libappstream4

sudo apt install --reinstall libappstream4

 按装ros软件

sudo apt install ros-melodic-desktop-full

3.更新rosdepc

按装pip

sudo apt-get install python3-pip

 按装rosdepc

sudo pip3  install rosdepc

解决rosdepc按装报黄

sudo -H pip3 install rosdepc

初始化rosdepc

sudo rosdepc init

更新rosdepc

rosdepc update

 

 

4.设置环境变量

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

5.按装依赖

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

6.修改ros权限

sudo chmod 777 -R ~/.ros/

 7.验证ros按装

第一个窗口

roscore

第二个窗口

rosrun turtlesim turtlesim_node

第三个窗口

rosrun turtlesim turtle_teleop_key

 

8.按装eigen库

01.按装libeigen3-dev

sudo apt-get install libeigen3-dev

02.cd到eigen3目录

cd /usr/include/eigen3

03.复制文件到根目录

sudo cp Eigen/ .. -R

04.新建C++文件测试按装

touch eigen_test.cpp

05.编辑文件

gedit eigen_test.cpp

06.代码内容 

#include <iostream>
#include <Eigen/Dense>
using Eigen::MatrixXd;
int main()
{
    MatrixXd m(2,2);
    m(0,0) = 3;
    m(1,0) = 2.5;
    m(0,1) = -1;
    m(1,1) = m(1,0) + m(0,1);
    std::cout << m << std::endl;
    return 0;
}

07.编译

g++ eigen_test.cpp -o eigen_test

 08.输出

./eigen_test

9.按装anaconda

01.下载anaconda文件

wget https://repo.anaconda.com/archive/Anaconda3-5.2.0-Linux-x86_64.sh

wget -c 'https://repo.anaconda.com/archive/Anaconda3-2024.06-1-Linux-x86_64.sh' 

 02.按装anaconda

bash Anaconda3-5.2.0-Linux-x86_64.sh

 

03.前两个输入yes  最后一个可以选择不按装vscode

yes

 04.编辑环境

sudo gedit ~/.bashrc

05.最低部加入  记得要更新

source ~/anaconda3/bin/activate

** (gedit:16094): WARNING **: 09:09:53.660: Set document metadata failed: Setting attribute metadata::gedit-spell-language not supported

** (gedit:16094): WARNING **: 09:09:53.660: Set document metadata failed: Setting attribute metadata::gedit-encoding not supported

** (gedit:16094): WARNING **: 09:26:03.949: Set document metadata failed: Setting attribute metadata::gedit-position not supported

意思是 设置文档元数据失败 只是一个警告，但它有点误导。真的没有错

06.更新source

source ~/.bashrc

07.检查按装环境

conda -V
anaconda -V

08.一定要更新source  才有效 

10. 创建pytorch环境

01.创建环境

conda create -n pytorch python=3.8

02.激活环境

conda activate pytorch

03.按装pytorch  切记若有中断重新按装

conda install pytorch torchvision cpuonly -c pytorch

出现中断重新按装 几次  反复执行，确保成功按装

04.测试

输入python import torch 是否成功

python
import torch
torch.cuda.is_available()

05.退出

exit()

conda deactivate

11.python中使用cv_bridge

不要按装在虚拟环境中

退出虚拟环境

conda deactivate

进入虚拟环境

conda activate

进入指定虚拟环境

conda activate pytorch

01.准备按装 首先退出虚拟环境

按装依赖包    需要先按装ROS Noetic  前面已经按装了免按装

切记一定要反复执行，只到到成功按装为止

///

需要先按装ROS Noetic

ubuntu20.04.6

sudo apt install ros-noetic-desktop-full

ubuntu18.04.1

sudo apt install ros-melodic-desktop-full

/

02.正式按装ubuntu18.04.1 ros相关依赖包 ros-kinetic-cv-bridge 

sudo apt-get install python-catkin-tools python3-dev python3-catkin-pkg-modules python3-numpy python3-yaml ros-melodic-cv-bridge

[sudo] password for chuanmei: 
Reading package lists... Done
Building dependency tree       
Reading state information... Done
E: Unable to locate package ros-kinetic-cv-bridge

E: 无法定位软件包 ros-kinetic-cv-bridge 

注Melodic是Kinetic的升级版本 按装Melodic即可

ubuntu   ros版本对应关系

20.04  Noetic 

18.04   Melodic

16.04   Kinetic

14.04   Indigo

下载cv_bridge源码

到根目录

cd ~

03.创建文件夹

mkdir -p catkin_workspace/src

04.到指定文件夹

cd catkin_workspace

05.配制Compilation环境 在当前文件下执行

catkin config -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.6m.so

06.编译

catkin config --install

 07.到src目录 /home/chuanmei/catkin_workspace/src/

cd src/

08.按装下载cv_bridge源代码 

git clone https://github.com/ros-perception/vision_opencv.git src/vision_opencv

08.检查按装版本

apt-cache show ros-melodic-cv-bridge | grep Version
cd src/vision_opencv
git checkout 1.13.1
cd ../../

09.编译

catkin build

10.查看python指向

cd 
cd /usr/bin
ls -l python*

 验证按装

到根目录

cd

 创建文件夹

mkdir test

创建文件

touch test.py

 删除文件

rm test.py

 到指定目录

cd test/

编缉文件

gedit test.py

文件代码  以下代码需要安装opencv

pip3 install opencv-python -i https://pypi.tuna.tsinghua.edu.cn/simple

#!/usr/bin/env python
#-*- coding: utf-8 -*-
 
import torch
import cv2
from cv_bridge import CvBridge,CvBridgeError
 
import sys
try:
    sys.path.remove('/opt/ros/noetic/lib/python3/dist-packages')
	
except:
    pass
print('hello pytorch cv_bridge')

进行验证

cd ..
cd test/
python test.py

报错torch

Traceback (most recent call last):
  File "test.py", line 4, in <module>
    import torch
ModuleNotFoundError: No module named 'torch'

 解决办法 进入pytorch环境

conda activate pytorch

 报错cv2

Traceback (most recent call last):
  File "test.py", line 5, in <module>
    import cv2
ModuleNotFoundError: No module named 'cv2'

解决办法按装cv2 (即opencv)

pip3 install opencv-python -i https://pypi.tuna.tsinghua.edu.cn/simple

报错ymal

Traceback (most recent call last):
  File "test.py", line 6, in <module>
    from cv_bridge import CvBridge,CvBridgeError
  File "/opt/ros/melodic/lib/python2.7/dist-packages/cv_bridge/__init__.py", line 1, in <module>
    from .core import CvBridge, CvBridgeError
  File "/opt/ros/melodic/lib/python2.7/dist-packages/cv_bridge/core.py", line 34, in <module>
    import sensor_msgs.msg
  File "/opt/ros/melodic/lib/python2.7/dist-packages/sensor_msgs/msg/__init__.py", line 1, in <module>
    from ._BatteryState import *
  File "/opt/ros/melodic/lib/python2.7/dist-packages/sensor_msgs/msg/_BatteryState.py", line 6, in <module>
    import genpy
  File "/opt/ros/melodic/lib/python2.7/dist-packages/genpy/__init__.py", line 34, in <module>
    from . message import Message, SerializationError, DeserializationError, MessageException, struct_I
  File "/opt/ros/melodic/lib/python2.7/dist-packages/genpy/message.py", line 48, in <module>
    import yaml
ModuleNotFoundError: No module named 'yaml'

解决办法 按装 ymal   按装成功为止

pip3 install pyyaml