Ubuntu18.04安装ROS Melodic
详情请参考:
https://blog.csdn.net/haiyinshushe/article/details/84256137
1.配置Ubuntu软件库:配置Ubuntu存储库以允许 “restricted,” “universe,” and “multiverse.”
记住中科大的源比较合适在这里
2.设置sources.list
(一句搞定系列)
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
3.设置密钥
sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
4.安装
1. 更新apt-get
sudo apt-get update
2. 桌面完整安装
sudo apt-get install ros-melodic-desktop-full
3.初始化rosdep(遇到问题二)
step1: sudo rosdep init
step2: rosdep update
4.添加ros环境变量(适用于单个ros分发)
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
5.打通最后一公里
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential
遇到的问题:
问题一:
由于没有公钥,无法验证下列签名: NO_PUBKEY F42ED6FBAB17C654
解决方案:
安装公钥
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654
问题二:
sudo: rosdep:找不到命令
解决方案
https://blog.csdn.net/weixin_44692299/article/details/105869229
测试:
终端一:
roscore
终端二:
rosrun turtlesim turtlesim_node
终端三:
rosrun turtlesim turtle_teleop_key
最终画面: