ROS-从安装Ubuntu到乌龟做圆周运动

ROS-从安装Ubuntu到乌龟做圆周运动

1. 使用类似于vmware的虚拟机安装ubuntu20.4

2. 配置软件源：

   1. 打开终端输入：sudo gedit /etc/apt/sources.list

   2. 根据网页：https://mirrors.tuna.tsinghua.edu.cn/help/ubuntu/选择ubuntu对应版本的软件镜像源，这里是20.4：

      # 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
      deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
      # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
      deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
      # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
      deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
      # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
      
      # deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted universe multiverse
      # # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted universe multiverse
      
      deb http://security.ubuntu.com/ubuntu/ focal-security main restricted universe multiverse
      # deb-src http://security.ubuntu.com/ubuntu/ focal-security main restricted universe multiverse
      
      # 预发布软件源，不建议启用
      # deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-proposed main restricted universe multiverse
      # # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-proposed main restricted universe multiverse
      

3. 新建 /etc/apt/sources.list.d/ros-latest.list并打开，添加内容为：deb https://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ focal main

4. 输入如下命令，信任 ROS 的 GPG Key：sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

5. 并更新索引：sudo apt update

6. 根据网页：https://mirrors.tuna.tsinghua.edu.cn/help/rosdistro/，模拟

   sudo rosdep init
   rosdep update
   

   替换为

   # 手动模拟 rosdep initsudo mkdir -p /etc/ros/rosdep/sources.list.d/
   
   sudo curl -o /etc/ros/rosdep/sources.list.d/20-default.list https://mirrors.tuna.tsinghua.edu.cn/github-raw/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
   
   # 为 rosdep update 换源
   export ROSDISTRO_INDEX_URL=https://mirrors.tuna.tsinghua.edu.cn/rosdistro/index-v4.yaml
   rosdep update
   
   # 每次 rosdep update 之前，均需要增加该环境变量# 为了持久化该设定，可以将其写入 .bashrc 中，例如
   echo 'export ROSDISTRO_INDEX_URL=https://mirrors.tuna.tsinghua.edu.cn/rosdistro/index-v4.yaml'>> ~/.bashrc
   
   sudo apt update
   

7. 在终端中输入:sudo apt install ros-noetic-destop-full

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

9. roscore之前安装roslaunch：sudo apt install python3-roslaunch

10. roscore

11. 之后按照实验说明书里的内容运行乌龟，如果遇上例如rosrun找不到的问题：运行source /opt/ros/noetic/setup.bash配置环境

12. 圆周：rostopic pub /turtle1/cmd_vel geometry_msgs/Twist -r 1 – '{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0,y: 0.0,z: 2.0}}’