### ROS安装 ###
ros安装
1 设置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'
2 设置密钥
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
3 更新包索引
sudo apt update
4 下载桌面完整版(推荐)
sudo apt install ros-melodic-desktop-full
5 初始化 rosdep
sudo apt update
sudo apt install python-pip
sudo pip install rosdepc (该方法源自鱼香ROS)
sudo rosdepc init
rosdepc update
6 设置环境
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
7 安装rosinstall这个工具和其他构建ROS包的依赖项
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
8 验证
启动主节点
roscore
启动小乌龟
rosrun turtlesim turtlesim_node