ROS系统的安装
ROS系统的安装方式有两种,通过软件源和源码编译安装。软件源安装只需要通过简单的命令,因此,我们使用软件源来安装ROS
配置系统软件源
打开Ubuntu软件中心的软件源配置界面,勾选restricted,universe,multiverse三个选项
软件源切换,安装过程出现问题的,一般与网络和软件源有关系,可以切换成手机热点试试 ,我改成阿里云的源,我的系统是16.04
sudo su #输入密码
cd/etc/apt #切换到apt源文件
mv sources.list sources.list_bak #备份源文件
vim sources.list #新建一个,然后将下面的内容copy进去
# deb cdrom:[Ubuntu 16.04 LTS _Xenial Xerus_ - Release amd64 (20160420.1)]/xenial main restricted
deb-src http://archive.ubuntu.com/ubuntu xenial main restricted #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial main restricted
deb-src http://mirrors.aliyun.com/ubuntu/ xenial main restricted multiverse universe #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted multiverse universe #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial universe
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates universe
deb http://mirrors.aliyun.com/ubuntu/ xenial multiverse
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates multiverse
deb http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse #Added by software-properties
deb http://archive.canonical.com/ubuntu xenial partner
deb-src http://archive.canonical.com/ubuntu xenial partner
deb http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted multiverse universe #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial-security universe
deb http://mirrors.aliyun.com/ubuntu/ xenial-security multiverse
sudo apt-get update
2.添加ROS软件源
打开终端,输入命令,国内的相对来说快一点
1 ROS官方软件镜像源2 sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
3
4中山大学镜像源5sudo 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'
3.添加密钥
1 sudo apt-key adv --keyserver hkp://pool.sks-keyservers.net --recv-key 0xB01FA116
4.安装ROS
1 sudo apt-getupdate2 sudo apt-get install ros-kinetic-desktop-full
ROS系统版本众多,kinetic版本支持到2021年,Indigo版本支持到2019年,因此选择kinetic桌面完整版,它包括了ROS的核心功能,以及机器人地图建模,自主导航,rviz可视化工具,gazebo仿真环境,rqt工具箱等。
5.初始化rosdep
rosdep主要功能是为某些功能安装系统依赖
1 sudo rosdep init2 rosdep update
6.设置环境变量
1 echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc2 source ~/.bashrc
使用下面两条命令来查看环境变量是否设置好
1 export |grep ROS2 env |grep ROS
7.安装rosinstall
1 sudo apt-get install python-rosinstall
8.完成安装
ROS安装在/opt目录下
1 运行roscore2 roscore
9.设置工作空间
1 mkdir -p ~/catkin_ws/src
2 cd~/catkin_ws/src
3 catkin_init_workspace
4 cd~/catkin_ws/5 catkin_make
6 source devel/setup.bash
7 检查所有环境变量,我们设置了两个,他们之间用:隔开
8 echo $ROS_PACKAGE_PATH
ROS系统的卸载
1 sudo apt-get remove ros-*
参考:胡春旭ROS机器人开发实践