1.配置ubuntu软件源
在ubuntu中打开Software & Updates(软件和更新),并启用所有Ubuntu软件源,如下图所示:
(修改Software&Updates其实是修改/etc/apt/source.list)
2.添加ROS源
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release-sc) main" > /etc/apt/sources.list.d/ros-latest.list'
(也可以选择其他镜像,中国的有:
- ExBot机器人实验室:
sudo sh -c '. /etc/lsb-release && echo "deb http://ros.exbot.net/rospackage/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
- 中科大:
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
- 清华大学:
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
)
3.设置密钥
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 0xB01FA116
4.安装ROS
1) 首先更新Ubuntu上的功能包列表:
sudo apt-get update
2)四种默认配置安装ROS:
- 完整功能包(ROS、rqt、rviz、机器人通用库、2D/3D模拟器、导航和2D/3D感知)
sudo apt-get install ros-kinetic-desktop-full
- 桌面版部分功能包(ROS、rqt、rviz、机器人通用库)
sudo apt-get install ros-kinetic-desktop
- 基本包(ROS包、构建和通信库,没有图形界面)
sudo apt-get install ros-kinetic-ros-base
- 单个包(用包名替换PACKAGE)
sudo apt-get install ros-kinetic-PACKAGE
(可以查找可用的包:
apt-cache search ros-kinetic
)
5.初始化rosdep
sudo rosdep init
(mm@mm:~$ sudo rosdep init
ERROR: cannot download default sources list from:
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
Website may be down.
出现这个错误是网络原因,多重复几次操作或者换个网试试)
(mm@mm:~$ sudo rosdep init
ERROR: default sources list file already exists:
/etc/ros/rosdep/sources.list.d/20-default.list
Please delete if you wish to re-initialize
出现这个错误就按照提示删除/etc/ros/rosdep/sources.list.d/20-default.list这个文件
)
rosdep update
(如若rosdep update这一步没有成功,可能是网络状态不好,多执行几次这个命令)
6.设置ROS环境
- 可以选择每次启动终端时运行(更改当前终端的环境)
source /opt/ros/kinetic/setup.bash
- 也可以选择运行如下命令,将ROS路径添加到.bashrc文件中(修改.bashrc文件,更改当前用户终端的环境)
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
( 打开新的终端该命令生效,或者运行
source ~/.bashrc
)
7.获取rosinstall构建ROS包的依赖关系
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
8.检测是否正确安装
打开终端运行
roscore
打开新的终端运行
rosrun turtlesim turtlesim_node
若显示如下画面,则表明一切正常: