Ubuntu18.04 install ROS and Moveit

配置Ubuntu软件库

设置软件源：

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'

设置最新的密钥：

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654

安装：

sudo apt-get update
sudo apt-get install ros-melodic-desktop-full
sudo apt-get install ros-melodic-rqt*

安装rosdep

必须装

sudo apt install python-rosdep

初始化rosdep:

sudo rosdep init
rosdep update

出现错误：
解决办法，

cd /etc
sudo gedit hosts

在文件末尾添加

# GitHub Start
52.74.223.119 github.com
192.30.253.119 gist.github.com
54.169.195.247 api.github.com
185.199.111.153 assets-cdn.github.com
151.101.76.133 raw.githubusercontent.com
151.101.108.133 user-images.githubusercontent.com
151.101.76.133 gist.githubusercontent.com
151.101.76.133 cloud.githubusercontent.com
151.101.76.133 camo.githubusercontent.com
151.101.76.133 avatars0.githubusercontent.com
151.101.76.133 avatars1.githubusercontent.com
151.101.76.133 avatars2.githubusercontent.com
151.101.76.133 avatars3.githubusercontent.com
151.101.76.133 avatars4.githubusercontent.com
151.101.76.133 avatars5.githubusercontent.com
151.101.76.133 avatars6.githubusercontent.com
151.101.76.133 avatars7.githubusercontent.com
151.101.76.133 avatars8.githubusercontent.com
# GitHub End

安装rosinstall

sudo apt-get install python-rosinstall

加载环境设置文件

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

安装依赖包

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

安装成功以后，可以在新的终端启动roscore了

roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key

ruguoyudao

swz@swz:~$ roscore

Command 'roscore' not found, but can be installed with:

sudo apt install python-roslaunch

zhixing

sudo apt-get install ros-melodic-desktop
source ~/.bashrc

源码安装Moveit

首先需要确保已安装的软件包为最新版本:

rosdep update
sudo apt-get update
sudo apt-get dist-upgrade 

下载依赖文件

Moveit源代码安装需要wstool，catkin_tools和可选的clang三类文件：

 sudo apt-get install python-wstool python-catkin-tools clang-format-3.9 

创建工作区和软件源

首先创建一个名为ws_moveit的工作区,在该工作区中执行安装操作:

mkdir ~/ws_moveit
cd ~/ws_moveit 

接下来，根据安装的ROS版本，为ROS工作区提供源以加载必要的环境变量:

melodic版本选择:
source /opt/ros/melodic/setup.bash

下载源代码

下拉所需的存储库，并从catkin工作区的根目录中进行构建：

wstool init src
wstool merge -t src https://raw.githubusercontent.com/ros-planning/moveit/master/moveit.rosinstall
wstool update -t src
rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO}
catkin config --extend /opt/ros/${ROS_DISTRO} --cmake-args -DCMAKE_BUILD_TYPE=Release 

注意:本步骤中的下载可能会因为网络问题漏掉某些软件包，每一步执行完毕后需要注意，若某个命令下有下载失败的软件包需要重复执行该命令

编译Moveit！

catkin build

配置Catkin工作区环境变量：

source ~/ws_moveit/devel/setup.bash # or .zsh, depending on your shell

安装Moveit！

执行完以上步骤后，运行以下命令即可安装Ros Melodic版本下的Moveit！

sudo apt-get install ros-melodic-moveit

更新环境变量：

source /opt/ros/melodic/setup.bash

检测安装是否成功

启动Moveit-Setup-Assistant：

cd ws_moveit
roslaunch moveit_setup_assistant setup_assistant.launch