下载源码包
在Ubuntu系统上,确保git已经安装
sudo apt-get install git
然后在创建一个名为tutorial_ws的工作空间,在它的的src路径下克隆ROS-Academy-for-Beginners软件包
cd ~
mkdir -p tutorial_ws/src #创建catkin工作空间
cd tutorial_ws/src #进入src路径,克隆教学软件包
git clone https://github.com/DroidAITech/ROS-Academy-for-Beginners.git
安装依赖
并且安装ROS-Academy-for-Beginners所需要的依赖
cd ~/tutorial_ws
rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y
#此命令会报错提示如下:
#ERROR: the following packages/stacks could not have their rosdep keys resolved
#to system dependencies:
#robot_sim_demo: Cannot locate rosdep definition for [yocs_cmd_vel_mux]
#navigation_sim_demo: Cannot locate rosdep definition for [dwa_local_planner]
#slam_sim_demo: Cannot locate rosdep definition for [hector_mapping]
#解决方案:
#把:rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y
#改成:
rosdep install --from-paths ~/tutorial_ws/src/ROS-Academy-for-Beginners --ignore-src -r
#运行后成功提示如下
在开始编译之前,需要确保Gazebo在7.0版本以上
gazebo -v #确认7.0及以上
如果你的Gazebo版本低于7.0,则需要进行升级
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install gazebo7
编译
接着回到catkin_ws下编译
cd ~/tutorial_ws
catkin_make
#安装依赖步骤如果不成功,可以跳过安装依赖步骤,直接进行编译
#编译过程中会出现报错,提示缺少什么依赖,错误例如下:
#CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
# Could not find a package configuration file provided by "hector_mapping"
# with any of the following names:
# hector_mappingConfig.cmake
# hector_mapping-config.cmake
#意思就是缺少这个安装包,
#解决方案:自己手动安装
#命令:
sudo apt-get install ros-kinetic-hector-mapping
#然后在进行catkin_make编译
#如果还是报错,类型和上述错误一致
#Could not find a package configuration file provided by "XXXX"
#循环接着安装包
sudo apt-get install ros-kinetic-xxxx
#在接着catkin_make编译,直到没有错误为止
#编译完成后,要source刷新环境
#包编译完成的包,刷新到系统环境变量里面,让系统知道,编译好的可执行文件放在那里
source ~/tutorial_ws/devel/setup.bash #这种方法只能使用一次,重新开启一个终端就会失效
#永久能够使用方式
echo "source ~/tutorial_ws/devel/setup.bash" >> ~/.bashrc