ROS入门（ROS安装+编译器配置）详细教程 ROSneotic安装 VScode的ROS开发环境的简单配置

ROS安装 + vscode简单配置

假设你已经安装好了Ubuntu 20.04，并且只有国内网络环境。

换源

1. Ctrl + Alt + T打开终端

2. 备份并打开

   sudo cp /etc/apt/sources.list /etc/apt/sources.list.bak
   sudo gedit /etc/apt/sources.list
   

3. 复制一下内容，替换默认的源

   #添加阿里源
   deb http://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiverse
   deb-src http://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiverse
   deb http://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiverse
   deb-src http://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiverse
   deb http://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiverse
   deb-src http://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiverse
   deb http://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiverse
   deb-src http://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiverse
   deb http://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse
   deb-src http://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse
   #添加清华源
   deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
   # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
   deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
   # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
   deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
   # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
   deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted universe multiverse
   # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted universe multiverse multiverse
   

4. 更新源

   sudo apt-get update
   

5. 如出现错误信息，则输入依次

   sudo apt-get -f install
   sudo apt-get upgrade
   

安装ROS

1. 添加 sources.list（设置你的电脑可以从 packages.ros.org 接收软件.）

   sudo sh -c '. /etc/lsb-release && echo "d{2d3b390d-f615-41d0-a830-7bbdcedbd397}eb http://mirrors.ustc.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
   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'
   

2. 添加 keys

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

3. 更新源

   sudo apt-get update
   

   

4. 安装ROS Noetic

   sudo apt install ros-noetic-desktop-full
   

   • 如果安装过程出现：E: Failed to fetch

     E: Failed to fetch http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/pool/main/r/ros-noetic-topic-tools/ros-noetic-topic-tools_1.15.13-1focal.20210922.182212_amd64.deb  Undetermined Error [IP: 101.6.15.130 80]
     

     则输入

     sudo apt-get update --fix-missing 
     sudo apt install ros-noetic-desktop-full
     

5. 耐心等待安装完成

6. 设置系统环境变量

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

测试

运行海龟仿真

在三个Terminal中分别执行

• roscore
• rosrun turtlesim turtlesim_node
• rosrun turtlesim turtle_teleop_key

成功安装！

配置vscode

1. 在vscode官网下载.deb安装包，选择保存文件。

2. 在安装包所在目录打开终端

3. 执行sudo dpkg -i 安装包名字.deb

4. 终端输入code，打开vscode

5. 安装如图插件

6. 重启vscode

7. 配置c++ ROS库

8. mkdir -p ~/catkin_ws/src
   cd ~/catkin_ws/src
   catkin_init_workspace
   cd ..
   catkin_make
   catkin_make -DCMAKE_EXPORT_COMPILE_COMMANDS=Yes
   code .
   
   

9. 在/src下新建test.cpp

   #include <bits/stdc++
   using namespace std;
   
   #include "ros/ros.h"
   #include "std_msgs/String.h"
   
   int main(int argc, char** argv)
   {
   	ros::init(argc, argv, "talker");
   	ros::NodeHandle n;
   	ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
   	ros::Rate loop_rate(10);
   	int count = 0;
   	while(ros::ok())
   	{
   		std_msgs::String msg;
   		std::stringstream ss;
   		ss << "hello world " << count;
   		msg.data = ss.str();
   		ROS_INFO("%s", msg.data.c_str());
   		chatter_pub.publish(msg);
   		ros::spinOnce();
   		loop_rate.sleep();
   		count++;
   	}
   	return 0;
   }
   

10. 此时，在#include "ros/ros.h"处有红色波浪线报错。

11. 在黄色灯泡处点击“Add to”即可。

12. 若无提示，则点击Edit “includePath” setting。并使其自动创建配置文件。

13. 在配置项目中添加

    "compileCommands": "${workspaceFolder}/build/compile_commands.json"
    

    

14. 全部保存后重启，红色波浪线消失，可以使用自动补全写代码了。

参考资料：

1. 使用VScode搭建ROS开发环境
2. ros项目调试:vscode下配置开发ROS项目