ROS Tutorial 记录 - 1 安装

1. 安装

ROS发行版是一组版本化的ROS包

选择ROS Melodic Morenia ，因为其声称支持到2023年Ubuntu 18.04 EOL，但是据wikipedia.org词条，Ubuntu 10.04 EOL为2028，支持延长至10年。

安装说明： http://wiki.ros.org/melodic/Installation/Ubuntu

1.1 Configure your Ubuntu repositories

https://help.ubuntu.com/community/Repositories/Ubuntu

1.2 Setup your sources.list

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

1.3 Set up your keys

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

1.4 Installation

Desktop-Full Install: (Recommended) : ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators and 2D/3D perception

sudo apt install ros-melodic-desktop-full

1.5 Initialize rosdep

Before you can use ROS, you will need to initialize rosdep. rosdep enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS.

sudo rosdep init
rosdep update

1.6 Environment setup

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

1.7 Dependencies for building packages

there are various tools and requirements that are distributed separately. For example, rosinstall is a frequently used command-line tool that enables you to easily download many source trees for ROS packages with one command.

To install this tool and other dependencies for building ROS packages, run:

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

这步发生错误，按提示运行 sudo apt --fix-broken install, 之后重新运行上条命令