Ubuntu20.04 装机配置~待续

更换阿里云软件源

// 备份初始软件源列表
sudo cp /etc/apt/sources.list /etc/apt/sources.list.bak

//编辑软件源列表
sudo gedit /etc/apt/sources.list

// 删除sources.list里面所有东西，放入以下内容
deb http://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse


// 终端输入
sudo apt update
// 更新，这一命令会更新内核，最好只在刚装上系统时运行一次
sudo apt upgrade

安装软件和小工具，常用配置

优化

sudo apt install gnome-tweaks gnome-tweak-tool gnome-shell-extension-dash-to-panel

安装 ROS

清华源
添加源

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'

添加密钥

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

安装

sudo apt update
sudo apt install ros-noetic-desktop-full
sudo apt install ros-noetic-rqt*

rosdep初始化
由于国内rosdep被墙了，这里用小鱼大神修改的rosdep

sudo pip install rosdepc
// 或者
sudo pip3 install rosdepc

sudo rosdepc init
rosdepc update

装ros-install

sudo apt install python-rosinstall  # or
sudo apt install python3-rosinstall

装moveit!

sudo apt install ros-noetic-moveit

装手柄控制
最好用罗技手柄

sudo apt install ros-noetic-joystick-drivers ros-noetic-joy
sudo apt install joystick

载入环境

// bash
source /opt/ros/noetic/setup.bash
// zsh
source /opt/ros/noetic/setup.zsh

// 放在 ~/.bashrc 的末尾可以使每次打开命令行不用source
gedit ~/.bashrc

海龟测试

打开三个终端分别运行

roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key