下载ROS
在Ubuntu官网下载合适的版本用于安装ROS
Ubuntu Releases
Lunar推荐17.04、Kinetic推荐16.04、Jade推荐15.04、Indigo推荐14.04、Melodic推荐18.04
我这里安装的是melodic版本的ROS
系统安装
设置好
等待系统自动安装完成
设置阿里云镜像
修改替换/etc/apt/sources.list文件
cd /etc/apt/
sudo cp sources.list sources.list.bak
sudo gedit sources.list
文件内容修改为
deb http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-proposed main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-proposed main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse
修改完成后
sudo apt-get update
ROS安装
# 添加sources.list
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'
# 添加key
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
# 更新最新软件包列表
sudo apt-get update && sudo apt-get upgrade
完成上述步骤后,开始安装ROS
# 这边melodic可以修改为自己安装的ROS版本
sudo apt-get install ros-melodic-desktop-full
# 18.04 安装完成后还需要运行下面的命令,否则会显示rosdep找不到命令
sudo apt install python-rosdep2
# 安装完成后,初始化ROS
sudo rosdep init && rosdep update
上面这一步很容易报错
解决方法(亲测有效):ROS rosdep init/update百分百解决
完成后,将ROS环境配置到.bashrc文件中
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
安装rosinstall
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential
安装结束后,就可以启动ROS,查看是否安装成功了
roscore
这里18.04版本遇到了没有roscore这个命令的问题
执行以下三行命令解决
cd /opt/ros/melodic/bin
sudo apt-get install ros-melodic-desktop
source ~/.bashrc
source后,再次roscore即可成功启动ROS
再打开一个终端显示小乌龟
rosrun turtlesim turtlesim_node
显示小乌龟后,再次打开一个终端,控制小乌龟
rosrun turtlesim turtle_teleop_key
至此ROS的melodic版本安装就结束了
以上安装步骤在虚拟机和物理机上都有做过测试,亲测都没遇到什么问题