树莓派 ubunut18 安装 ros

1、树莓派 ubunut18 换源：

sudo vim /etc/apt/sources.list

阿里云源：

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

更新：

sudo apt-get update
sudo apt-get upgrade

2、ros安装：
设置ros sources.list：

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

更新：

sudo apt update

3、安装ros：
ROS 中有很多不同的库和工具，并提供了四种默认选项，也可以单独安装 ROS 的软件包。

• 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-PACKAGE

如：

sudo apt install ros-melodic-slam-gmapping

要查找可用软件包，请运行：

apt search ros-melodic

4、初始化 rosdep：
安装pip：

sudo apt-get install python-pip #python2
sudo apt-get install python3-pip #python3

**安装国内rosdep：**

sudo pip install rosdepc  
sudo rosdepc init
rosdepc update

5、添加ros环境变量：

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

6、为了构建和管理开发者自己的ROS工作空间，还需安装rosinstall：

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

7、第一次启动ROS时，需要进行环境变量配置，执行如下命令：

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

8、启动ros：

roscore

版本对照：

报错：

IOError: [Errno 13] Permission denied:
‘/home/pi/.ros/roscore-11311.pid’

sudo chmod 777 -R ~/.ros/

报错：

E: Could not get lock /var/lib/dpkg/lock-frontend - open (11: Resource
temporarily unavailable) E: Unable to acquire the dpkg frontend lock
(/var/lib/dpkg/lock-frontend), is another process using it?

sudo rm /var/lib/dpkg/lock-frontend
sudo rm /var/lib/dpkg/lock
sudo rm /var/cache/apt/archives/lock

解决apt-get /var/lib/dpkg/lock-frontend 问题 - 知乎 (zhihu.com)