ROS的卸载
由于用的是apt-get方式安装的ROS,卸载使用如下命令:
$ sudo apt-get remove ros-*
从源码安装
1.安装前的准备
$ sudo apt-get install python-rosdep python-wstool ros-kinetic-ros
$ sudo rosdep init(可能会出现error)
若出现ERROR:default sources list file already exists:
/etc/ros/rosdep/sources .list.d/20-default.list
只需要按照提示删除已经存在的初始化文件即可:
$ sudo rm /etc/ros/rosdep/sources.list.d/20-default.list
再重新运行 $ sudo rosdep init
$ rosdep update
2.安装rocon、kobuki、turtlebot
由于三个组合空间的关系,必须按照顺序安装
$ mkdir ~/rocon
$ cd ~/rocon
$ wstool init -j5 src https://raw.github.com/robotics-in-concert/rocon/release/kinetic/rocon.rosinstall
$ source /opt/ros/kinetic/setup.bash
$ rosdep install --from-paths src -i -y
$ catkin_make
$ mkdir ~/kobuki
$ cd ~/kobuki
$ git clone https://github.com/yujinrobot/yujin_tools.git
修改:
~/home/chunle/kobuki/yujin_tools/rosinstalls/indigo/kobuki.rosinstall文件如下:
##############################################################################
If no debs, overlay on top of the rocon and ecl rosinstallers.
##############################################################################
Kobuki / Yujin stacks
#- git: {local-name: yocs_msgs, version: release/0.6-indigo, uri: ‘https://github.com/yujinrobot/yocs_msgs.git’}