Ubuntu18.04安装
安装ROS Melodic需要安装Ubuntu18.04版本,可参考如下视频,注意视频中安装版本和我们需要安装版本不一样。
Windows 和 Ubuntu 双系统的安装和卸载
ROS Melodic安装
本内容完全参考如下视频,注意视频中kuai为UP主自己的用户名,操作过程中需要改成自己的用户名。
Ubuntu 18.04安装ROS Melodic【一镜到底X视频笔记】
参考如下指令:
进入ROS官网,点击install,点击ROS Melodic Morenia,点击Ubuntu,点击Mirrors。
我的安装过程:
打开终端输入
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
输入公匙
sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
输入
sudo apt update
如果遇到问题:E:无法修正错误,因为您要求某些软件包保持现状,就是它们破坏了软件包间的依赖关系
解决办法:
https://www.pianshen.com/article/4484495873/
输入
sudo apt install ros-melodic-desktop-full
等待安装完成
输入
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
输入
sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
等待安装完成。
输入
git clone https://github.com/ros/rosdistro.git
在根目录下出现rosdistro文件
将路径替换为本地路径,操作如下:
输入
sudo nano rosdistro/rosdep/sources.list.d/20-default.list
将yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx 注释,另起一行输入`如下,注意rw为我的用户名,以下同理。
yaml file:///home/rw/rosdistro/rosdep/osx-homebrew.yaml osx
将yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
gbpdistro https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml fuerte注释,另起一行输入
yaml file:///home/rw/rosdistro/rosdep/base.yaml
yaml file:///home/rw/rosdistro/rosdep/python.yaml
yaml file:///home/rw/rosdistro/rosdep/ruby.yaml
gbpdistro file:///home/rw/rosdistro/releases/fuerte.yaml fuerte
Ctrl+s保存,Ctrl+x退出,以下同理。
输入
sudo nano /usr/lib/python2.7/dist-packages/rosdep2/rep3.py
将REP3_TARGETS_URL = 'https://raw.githubusercontent.com/ros/rosdistro/master/releases/targets.yaml’注释,另起一行输入
REP3_TARGETS_URL = 'file:///home/rw/rosdistro/releases/targets.yaml'
保存退出
输入
sudo nano /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py
将DEFAULT_SOURCES_LIST_URL = 'https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list’注释,另起一行输入
DEFAULT_SOURCES_LIST_URL = 'file:///home/rw/rosdistro/rosdep/sources.list.d/20-default.list'
保存退出
输入
sudo nano /usr/lib/python2.7/dist-packages/rosdistro/__init__.py
将DEFAULT_INDEX_URL = 'https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml’注释,另起一行输入
DEFAULT_INDEX_URL = 'file:///home/rw/rosdistro/index-v4.yaml'
保存退出
输入
sudo rosdep init
出现 please run rosdep update
则输入
rosdep update
等待完成后安装完成
测试安装
输入roscore
,打开另一个终端输入rosrun turtlesim turtlesim_node
出现小海龟节点,在打开另一个终端输入rosrun turtlesim turtle_teleop_key
,然后键盘按上下左右可控制小海龟。
至此,安装结束。