ROS使用简介

ROS

安装

  ROS 安装选择Noetic版本，对应Ubuntu Focal 20 版本。

1. 设置sources.list。新建 /etc/apt/sources.list.d/ros-latest.list并添加内容

# 官方
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
# 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'

2. 信任 ROS 的 GPG Key，并更新索引

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

3. 安装

conda create -n python310-ros python=3.10 # 创建ros专用python环境
conda activate python310-ros
sudo apt install ros-noetic-desktop-full # 完整桌面版安装（Desktop-Full，推荐）：除了桌面版的全部组件外，还包括2D/3D模拟器（simulator）和2D/3D 感知包（perception package）
sudo apt install ros-noetic-desktop # 桌面版（Desktop）:包括了ROS-Base的全部组件，还有一些工具，比如rqt和rviz。
sudo apt install ros-noetic-ros-base # ROS-Base（仅含骨架）：ROS packaging，build，和communication库。没有图形界面（GUI）工具。

# 初始化设置
pip install rospkg
sudo apt install python3-rosdep
sudo rosdep init
rosdep update

4. 环境配置

source /opt/ros/noetic/setup.bash && conda activate python310-ros

ROS2

安装

  ROS2 安装选择Foxy版本，对应Ubuntu Focal 20 版本。

1. 检验是否支持 UTF-8

locale

  如果不支持

sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

2. 添加GPG key到安装源。清华源帮助

# Ensure that the Ubuntu Universe repository is enabled
sudo apt install software-properties-common
sudo add-apt-repository universe
sudo apt update && sudo apt install curl  gnupg2 -y

# add the ROS 2 GPG key with apt
# 官方源
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
# 清华源
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] https://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu focal main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

3. 安装ROS2包。

sudo apt update
sudo apt upgrade
conda create -n python310-ros2 python=3.10
conda activate python310-ros2
# Desktop Install (Recommended): ROS, RViz, demos, tutorials.
sudo apt install ros-foxy-desktop python3-argcomplete 
# ROS-Base Install (Bare Bones): Communication libraries, message packages, command line tools. No GUI tools. 
sudo apt install ros-foxy-ros-base python3-argcomplete
# Development tools: Compilers and other tools to build ROS packages
sudo apt install ros-dev-tools

4. ROS2 环境配置

source /opt/ros/foxy/setup.bash && conda activate python310-ros2

卸载

sudo apt remove ~nros-foxy-* && sudo apt autoremove
sudo rm /etc/apt/sources.list.d/ros2.list
sudo apt update
sudo apt autoremove
#