1. Ubuntu20.04安装ROS noitic版本
安装过程参考: http://wiki.ros.org/noetic/Installation/Ubuntu,
这个中文的也比较清楚 https://blog.csdn.net/liaolizhou/article/details/123615925
由于墙的原因,注意选择国内镜像站点,http://wiki.ros.org/ROS/Installation/UbuntuMirrors
但无论参考哪个安装说明,可能都无法一把到底
初始化rosdep很关键,务必参考 https://blog.csdn.net/liaolizhou/article/details/123615925 中关于rosdepc的说明
各站点的更新及完整性不一致,有时不能安装完成,就试试别的,把几个大学的镜像都试试
我的过程是先后试过国内几个镜像站点:
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | sudo apt-key add -
sudo apt-get update
这个提示没全部成功,又试验
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'
curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | sudo apt-key add -
sudo apt update
还是不能全部成功,再试:
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.zju.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | sudo apt-key add -
sudo apt update
还是警告没有全部成功,再试:
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.sjtug.sjtu.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | sudo apt-key add -
sudo apt update
到此ROS的Ubuntu软件包算是下载成功,接下来就可以安装ROS noitic,配置ROS环境:
sudo apt-get install ros-noetic-desktop-full
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt-get install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
sudo apt install python3-pip
安装并初始化rosdep,为速度更快,使用国内的rosdepc:
(1)创建 ~/.pip/pip.conf
(2)在上述文件中写入以下内容:
[global]
index-url = https://pypi.tuna.tsinghua.edu.cn/simple/
[install]
trusted-host = pypi.tuna.tsinghua.edu.cn
(3)安装rosdepc
sudo pip install rosdepc
sudo rosdepc init
rosdepc update
2. 小乌龟测试程序
(1)在一个终端窗口先启动 roscore服务
(2)在另外一个终端窗口运行 rosrun turtlesim turtlesim_node,会弹出一个有小乌龟的窗口
(3)在第三个终端窗口启动键盘控制程序 rosrun turtlesim turtle_teleop_key,按方向键,小乌龟开始运动