安装:http://wiki.ros.org/indigo/Installation/Ubuntu :注意添加中国的镜像
sudo sh -c '. /etc/lsb-release && echo "deb http://mirror.sysu.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
sudo sh -c '. /etc/lsb-release && echo "deb http://101.227.245.14/mirror-cn-sh/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
开启应用之旅:http://wiki.ros.org/ROS/Tutorials
Create a ROS Workspace 创建工作区间 http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace
$ cd ~/catkin_ws/
$ catkin_make
$ source devel/setup.bash
了解三个命令 http://wiki.ros.org/ROS/Tutorials/NavigatingTheFilesystem 如何查看ROS文件系统
rospack
roscd
rosls
Creating a ROS Package 创建一个ROS包 catkin方法 http://wiki.ros.org/ROS/Tutorials/CreatingPackage
# You should have created this in the Creating a Workspace Tutorial $ cd ~/catkin_ws/src
$ catkin_create_pkg beginner_tutorials std_msgs rospy roscpp
$ rospack depends1 beginner_tutorials
$ roscd beginner_tutorials $ cat package.xml
$ rospack depends1 rospy
$ rospack depends beginner_tutorialsbuild a package 编译一个package http://wiki.ros.org/ROS/Tutorials/BuildingPackages
$ cd ~/catkin_ws/ $ ls src
$ catkin_make
$ ls
Understanding ROS Nodes 理解ROS 节点 http://wiki.ros.org/ROS/Tutorials/UnderstandingNodes
$ roscoreOpen up a new terminal , and let's use rosnode to see what running roscore did...
$ rosnode list
$ rosnode info /rosoutThen, in a new terminal :
$ rosrun turtlesim turtlesim_nodeIn a new terminal :
$ rosnode list
$ rosrun turtlesim turtlesim_node __name:=my_turtle
$ rosnode list
$ rosnode ping my_turtle