ubuntu18.04安装python pcl_ubuntu18.04 安装 ros melodic

1.获取源

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

获取公钥

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

sudo apt-get update

可能遇到gpg报错，添加密钥再次更新资源库

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654

sudo apt-get update

3.安装依赖项

sudo apt install libvtk6-jni libvtk6-java libvtk6-dev libvtk6-qt-dev libpcl-dev

sudo apt install ros-melodic-pcl-conversions ros-melodic-pcl-ros ros-melodic-perception-pcl ros-melodic-perception

安装ros-melodic

sudo apt-get install ros-melodic-desktop-full

5.进行ros初始化，需要使用python2.7

sudo rosdep init

error:Command 'rosdep' not found

现在python默认python3.5，切换为python2.7：

sudo apt install python-rosdep2

sudo rosdep init

#error:ImportError: No module named 'rosdep2'

update-alternatives --list python

#/usr/bin/python2

#/usr/bin/python2.7

#/usr/bin/python3.5

sudo update-alternatives --config python

#choose python2.7

sudo rosdep init

rosdep update

可能出现报错，网不好，多试几次就好了

6.配置环境变量

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

source ~/.bashrc

7.查看ros

env | grep ROS

测试

roscore #启动ros

重新开一个terminal，唤醒小海龟：

rosrun turtlesim turtlesim_node

成功