ubuntu18.04安装ros

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最新推荐文章于 2024-03-17 22:24:03 发布

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分类专栏：环境搭建 ROS 文章标签：自动驾驶 ubuntu

本文链接：https://blog.csdn.net/qq_39916709/article/details/120327025

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ROS Melodic 官网安装指南总入口
本教程为apt-get命令安装方式，包括详细的安装步骤、错误的解决方式和正确安装的现象

文章目录

1 安装

1.1 设置程序安装源并更新 Debian 包索引

命令：

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'
sudo apt update

补充：
如果下载速度缓慢，可以从ROS镜像源就近选择一个镜像源替换上面的地址，本次安装使用的是清华的镜像。
成功：
在指定位置生成了一个ros-latest.list文档，文档内容如下：

$ cat /etc/apt/sources.list.d/ros-latest.list
deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ bionic main

1.2 设置密钥

命令：

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

成功：

$ sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
Executing: /tmp/apt-key-gpghome.4jZIfkh2iI/gpg.1.sh --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
gpg: key F42ED6FBAB17C654: public key "Open Robotics <info@osrfoundation.org>" imported
gpg: Total number processed: 1
gpg:               imported: 1

1.3 安装

命令：

sudo apt install ros-melodic-desktop-full

补充：
本次安装直接安装了大礼包，ROS提供了四种默认搭配，如下：

#桌面完整版（推荐）: 包含 ROS、rqt、rviz、机器人通用库、2D/3D 模拟器、导航以及 2D/3D 感知包。
sudo apt install ros-melodic-desktop-full

#桌面版： 包含 ROS，rqt，rviz 和机器人通用库。
sudo apt install ros-melodic-desktop

#ROS-基础包： 包含 ROS 包，构建和通信库。没有图形界面工具。
sudo apt install ros-melodic-ros-base

#单独的包： 你也可以安装某个指定的ROS软件包（使用软件包名称替换掉下面的PACKAGE）。
sudo apt install ros-melodic-包名
e.g:sudo apt install ros-melodic-slam-gmapping
#要查找可用软件包，请运行：
apt search ros-melodic

大概十分钟左右可以安装完，速度太慢的话就考虑换个镜像。

2 初始化rosdep

在你使用 ROS 之前，需要初始化 rosdep。rosdep 让你能够轻松地安装被想要编译的源代码，或被某些 ROS 核心组件需要的系统依赖。

2.1 安装rosdep

命令：

sudo apt-get install python-rosdep

成功：

2.2 初始化

命令：

sudo rosdep init

补充：花式翻车，直接看加粗的解决方法二吧
错误1：ERROR: cannot download default sources list from

ERROR: cannot download default sources list from:
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
Website may be down.

解决方法：添加host

sudo sh -c 'echo "151.101.84.133 raw.githubusercontent.com" >> /etc/hosts'

错误2：Rosdep experienced an error: (‘The read operation timed out’,)

ERROR: Rosdep experienced an error: ('The read operation timed out',)
Please go to the rosdep page [1] and file a bug report with the stack trace below.
[1] : http://www.ros.org/wiki/rosdep

rosdep version: 0.21.0
SSLError: ('The read operation timed out',)

解决方法：
方法一：多试几次
方法二（看这个！！！）：
把20-default.list文件内容复制到20-default.list里，步骤和内容如下：

sudo mkdir -p /etc/ros/rosdep/sources.list.d
cd /etc/ros/rosdep/sources.list.d
sudo gedit 20-default.list

20-default.list文件内容：

# os-specific listings first
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx

# generic
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
gbpdistro https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml fuerte

# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead

成功：

2.3 更新

命令：
不要加sudo！如果不小心加了，执行sudo rosdep fix-permissions即可恢复文件的权限

rosdep update

补充：
花式翻车，总结原因就是被墙了。
翻车1：ERROR: error loading sources list:
(‘The read operation timed out’,)
翻车2：ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml]

解决方法：
1.把rosdistro下载到本地(推荐Download ZIP)，目录层级如下图：
在这里插入图片描述
2.修改20-default.list文件内容，把所有的https://raw.githubusercontent.com/ros/rosdistro/master替换成上图文件所在目录(示例为file:///home/libo/work/temp/rosdistro/master)，修改后的文件内容如下

# os-specific listings first
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx

# generic
yaml file:///home/libo/work/temp/rosdistro/master/rosdep/base.yaml
yaml file:///home/libo/work/temp/rosdistro/master/rosdep/python.yaml
yaml file:///home/libo/work/temp/rosdistro/master/rosdep/ruby.yaml
gbpdistro file:///home/libo/work/temp/rosdistro/master/releases/fuerte.yaml fuerte

# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead

3 修改rosdep下面三个源文件里所有的raw.githubusercontent.com替换成步骤2中一样的文件目录：

/usr/lib/python2.7/dist-packages/rosdep2/gbpdistro_support.py
/usr/lib/python2.7/dist-packages/rosdep2/rep3.py
/usr/lib/python2.7/dist-packages/rosdistro/__init__.py

/usr/lib/python2.7/dist-packages/rosdep2/gbpdistro_support.py：在这里插入图片描述
/usr/lib/python2.7/dist-packages/rosdep2/rep3.py：
/usr/lib/python2.7/dist-packages/rosdistro/__init__.py：

成功：

rosdep update
reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit file:///home/libo/work/temp/rosdistro/master/rosdep/osx-homebrew.yaml
Hit file:///home/libo/work/temp/rosdistro/master/rosdep/base.yaml
Hit file:///home/libo/work/temp/rosdistro/master/rosdep/python.yaml
Hit file:///home/libo/work/temp/rosdistro/master/rosdep/ruby.yaml
Hit file:///home/libo/work/temp/rosdistro/master/releases/fuerte.yaml
Query rosdistro index file:///home/libo/work/temp/rosdistro/master/index-v4.yaml
Skip end-of-life distro "ardent"
Skip end-of-life distro "bouncy"
Skip end-of-life distro "crystal"
Skip end-of-life distro "dashing"
Skip end-of-life distro "eloquent"
Add distro "foxy"
Add distro "galactic"
Skip end-of-life distro "groovy"
Skip end-of-life distro "hydro"
Skip end-of-life distro "indigo"
Skip end-of-life distro "jade"
Skip end-of-life distro "kinetic"
Skip end-of-life distro "lunar"
Add distro "melodic"
Add distro "noetic"
Add distro "rolling"
updated cache in /home/libo/.ros/rosdep/sources.cache

3 设置环境（可选但是推荐）

说明：不设置的话，就每次重启手动运行一下source /opt/ros/melodic/setup.bash
命令：

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

4 构建工厂依赖（可选但是推荐）

命令：

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

5 安装rosbash（可选但是推荐）

命令：

sudo apt install rosbash
source .bashrc

6 检查是否安装成功

命令：

printenv | grep ROS

补充：
要是不成功，执行一下source /opt/ros/melodic/setup.bash
成功：

ROS_ETC_DIR=/opt/ros/melodic/etc/ros
ROS_ROOT=/opt/ros/melodic/share/ros
ROS_MASTER_URI=http://localhost:11311
ROS_VERSION=1
ROS_PYTHON_VERSION=2
ROS_PACKAGE_PATH=/opt/ros/melodic/share
ROSLISP_PACKAGE_DIRECTORIES=
ROS_DISTRO=melodic

7 可可爱爱的小乌龟例程

折腾一大圈，这就装好了，是不是超级没有真实感，那运行下小乌龟例程吧，小乌龟这么可爱，没有人逃得掉
官网小乌龟教程，ros官网yyds

7.1 运行roscore

命令：roscore
成功：
成功界面如下，不是卡住了，这个终端被它占用了

... logging to /home/xxx/.ros/log/a6624b52-16be-11ec-96d1-48b02d2ffd02/roslaunch-ugv-21938.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ugv:37461/
ros_comm version 1.14.11


SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.11

NODES

auto-starting new master
process[master]: started with pid [21970]
ROS_MASTER_URI=http://ugv:11311/

setting /run_id to a6624b52-16be-11ec-96d1-48b02d2ffd02
process[rosout-1]: started with pid [21984]
started core service [/rosout]

7.2 使用turtlesim

另开终端，刚刚那个roscore的终端不要关。

命令：rosrun turtlesim turtlesim_node
补充：报-bash: rosrun: command not found的话执行一下步骤5，别漏了source
成功：

7.3 开启键盘控制小乌龟爬

另开终端，刚刚那个roscore和turtlesim_node的终端不要关。

命令：rosrun turtlesim turtle_teleop_key
补充：选中这个终端，按方向键就可以了
画个啥：

奶盖加芝士

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ubuntu18.04安装ros

ROS Melodic 官网安装指南总入口本教程为apt-get命令安装方式，包括详细的安装步骤、错误的解决方式和正确安装序的现象文章目录1 安装1.1 设置程序安装源并更新 Debian 包索引1.2 设置密钥1.3 安装2 初始化rosdep2.1 安装rosdep2.2 初始化2.3 更新3 设置环境（可选但是推荐）4 构建工厂依赖（可选但是推荐）5 检查是否安装成功1 安装1.1 设置程序安装源并更新 Debian 包索引命令：sudo sh -c '. /etc/lsb-rel
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