虚拟机linux下安装ros,Windows下安装Ubuntu虚拟机及ROS

1.Windows下安装Uubuntu虚拟机

安装文件在网盘中 pibot\pibot docs\software\Vmware，Ubuntn镜像在网盘或者官网下载

1.1 Windows下安装Vmware

基本下一步，不再赘述

1.2 虚拟机安装Ubuntu

a.打开虚拟机，选择创建新的虚拟机

b. 选择下载好的ubuntu镜像

c.填入信息继续

d.选择文件存放位置，继续选择最大磁盘大小，建议(30G)

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e.点击完成继续，虚拟机会重启开始安装(我安装的是gnome桌面的ubuntu，可能显示不一样)

f.安装完成

2. 安装ROS

使用PIBOT ROS安装脚本即可完成ROS的一键安装

cd ~/pibot_ros

./pibot_install_ros.sh

source ~/.bashrc

脚本见文末附录

3. 网络连接

虚拟机选择桥接模式

a. 右击右下角图标

b.网络连接选择桥接模式

c.设置桥接网卡，点击菜单编辑选择虚拟网络编辑器

点击更改设置

选择需要桥接的网卡，确定即可

4. windows安装Xmanager(xshell、xftp)

安装文件在网盘中 pibot\pibot docs\software\Xmanager-v5.0.0547.zip, 安装过程不再赘述

通过xshell连接至树莓派

通过xftp传输文件

附pibot_install_ros.sh

#!/bin/bash

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

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

sudo apt-get update

code_name=$(lsb_release -sc)

if [ "$code_name" = "trusty" ]; then

ros_version="indigo"

elif [ "$code_name" = "xenial" ]; then

ros_version="kinetic"

else

echo "PIBOT not support "$code_name

exit

fi

echo "ros:" $ros_version

sudo apt-get -y --allow-unauthenticated install ros-${ros_version}-ros-base ros-${ros_version}-slam-gmapping ros-${ros_version}-navigation ros-${ros_version}-xacro ros-${ros_version}-yocs-velocity-smoother ros-${ros_version}-robot-state-publisher ros-${ros_version}-joint-state-publisher ros-${ros_version}-teleop-twist-* ros-${ros_version}-rviz ros-${ros_version}-control-msgs ros-${ros_version}-kdl-parser-py ros-${ros_version}-tf2-geometry-msgs ros-${ros_version}-hector-mapping ros-${ros_version}-slam-karto ros-${ros_version}-hector-geotiff ros-${ros_version}-hector-trajectory-server ros-${ros_version}-usb-cam ros-${ros_version}-image-transport ros-${ros_version}-image-transport-plugins ros-${ros_version}-astra-launch ros-${ros_version}-astra-camera ros-${ros_version}-depthimage-to-laserscan ros-${ros_version}-openni2*

read -s -n1 -p "install ros gui tools?(y/N)"

if [ "$REPLY" = "y" -o "$REPLY" = "Y" ]; then

sudo apt-get -y --allow-unauthenticated install ros-${ros_version}-rviz ros-${ros_version}-rqt-reconfigure

fi