Ubuntu 18.04 ROS(melodic)安装及环境配置

1 Ubuntu 系统配置

添加国内软件源

sudo gedit /etc/apt/sources.list 

阿里云：

deb http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse

deb http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse

deb http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse

deb http://mirrors.aliyun.com/ubuntu/ bionic-proposed main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-proposed main restricted universe multiverse

deb http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse

ROS安装

添加ROS软件源：(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' 

设置密钥：

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

安装全家桶：

sudo apt update 
sudo apt install ros-melodic-desktop-full 

等待安装完成。

检验是否安装成功：

apt search ros-melodic

ROS环境配置

ROS环境添加到bash：

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

安装一些依赖项：

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

初始化rosdep:

sudo apt install python-rosdep 
sudo rosdep init 
rosdep update 

新建工作空间：

mkdir -p ~/catkin_ws/src 
cd ~/catkin_ws/src 
catkin_init_workspace 

构建：

cd ~/catkin_ws/ 
catkin_make 

ls会发现生成了build和devel目录，catkin的构建系统的相关文件保存在build目录中，构建后的可执行文件保存在devel目录中。

加载与catkin构建系统相关的环境文件：

source ~/catkin_ws/devel/setup.bash 

要加载一个配置文件,就像在ROS安装过程中使用的以下命令一样,每次打开新的终端窗口时都必须运行它，即：

source /opt/ros/melodic/setup.bash 
source ~/catkin_ws/devel/setup.bash 

为了方便起见，每次打开终端自动读取配置文件：

gedit ~/.bashrc 

在最后添加：

source /opt/ros/melodic/setup.bash
source ~/catkin_ws/devel/setup.bash

# Set ros network
# export ROS_HOSTNAME=localhost
# export ROS_MASTER_URI=http://localhost:11311

# Set ros alias command
alias cw='cd ~/catkin_ws'
alias cs='cd ~/catkin_ws/src'
alias cm='cd ~/catkin_ws && catkin_make'