先放上下载网盘:VMware12: https://pan.baidu.com/s/1ifp3UhUnvyYCAJcjpsrYOw.提取码:s9dx
Ubuntu18.04.5: https://pan.baidu.com/s/15t8YahCiCc-KCfG4VVAryw.提取码:w838
1.安装VMware12
2.在VMware中安装Ubuntu18.04
2.配置Ros环境
1.在软件和更新中勾选对应选项,换源为国内源,校园网用edu的源会快些
2.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'
3.添加密钥
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
4.安装前更新索引
sudo apt update
安装melodic完整版
sudo apt install ros-melodic-desktop-full
5.安装Rosdep
sudo apt install python-rosdep
6.初始化Rosdep
sudo rosdep init
7更新一下
rosdep update
8.设置环境变量
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
定位bashrc
source ~/.bashrc
9.安装RosInstall
sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
10.输入roscore测试,若出现command not found 解决方法:
sudo apt install ros-melodic-roslaunch
11.接下来就可以使用小海龟测试了总共三个终端命令窗口
测试时roscore一个终端窗口:
roscore
若出现如下,则表示成功
再打开另一个终端窗口输入
rosrun turtlesim tuetlesim_node
再打开另一个终端窗口输入
rosrun turtlesim tuetle_teleop_key
用方向键操控海龟运动时,把rosrun turtlesim tuetle_teleop_key终端窗口放在最上面
若出现 Error: package ‘beginner_tutorials’ not found
输入安装
sudo apt-get install ros-melodic-turtlesim
12.运行rqt_graph可以看发布订阅关系,但若提示command not found,可能是没安装全,缺少一些包
修复环境实际上就是把缺失的包找回来,运行当初装ROS的指令就好:
sudo apt-get install ros-melodic-desktop
和官方安装步骤略有不同,但亲测成功!
官方安装教程: http://wiki.ros.org/melodic/Installation/Ubuntu.
本步骤是按照B站古月居教程总结,很好地教程链接: https://www.bilibili.com/video/BV1zt411G7Vn?p=5.