环境
VMware Workstation 15
Ubuntu:18.0.4.3
Ros:ros-melodic-desktop
Java:1.8.0_241
python:2.7.15+
1.添加ros软件源:
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
2.添加秘钥
下面的公钥已经失效了,请去官网http://wiki.ros.org/kinetic/Installation/Ubuntu 找到set up your key步骤,按照官网提示,新终端运行更新公钥的指令,
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
3.使系统软件处于最新版
sudo apt-get update
4.安装ros(下载会很慢,可参考https://blog.csdn.net/qq_38649880/article/details/99563189换ros国内源)
sudo apt-get install ros-melodic-desktop-full
下载完成
5.初始化rosdep
sudo rosdep init #(此处遇到问题,详情见下)
rosdep update
此处遇到问题:报错ModuleNotFoundError: No module named ‘rosdep2’。
原因:ROS对Python的支持还不好,所以还是用Python2.7。
解决办法:https://www.cnblogs.com/python-learning-blog/p/11338794.html
sudo su#进入root模式
ls /usr/bin/python*
update-alternatives --list python
update-alternatives --install /usr/bin/python python /usr/bin/python2.7 1
update-alternatives --config python
6.环境配置
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
7.安装rosinstall(阿里云镜像比较快)
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
8.测试
roscore
9.ros卸载(未尝试)
sudo apt-get purge ros-*
sudo rm -rf /etc/ros
sudo gedit ~/.bashrc #然后,删除其中关于ros的环境变量
10.小海龟测试
新建三个终端,分别运行
roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key
参考教程:https://blog.csdn.net/leonardohaig/article/details/82813738