PCAT_open_source环境配置（一气呵成）

PCAT_open_source环境配置之ROS-Kinetic安装（一气呵成）

首先我是在ubuntu16.04的环境下配置的，与其要求保持一致

第一步 安装ROS

1）添加ros源：

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

2）添加ROS源秘钥：

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

3）更新源：

sudo apt-get update

！可能会遇到问题:

sudo apt-get update由于没有公钥，无法验证下列签名： NO_PUBKEY F42ED6FBAB17C654

解决–安装公钥：

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

！可能会遇到问题:

E: 无法获得锁 /var/lib/dpkg/lock-frontend - open (11: 资源暂时不可用)

E: Unable to acquire the dpkg frontend lock (/var/lib/dpkg/lock-frontend), is another process using it?

解决:

ps -e | grep apt

然后会出现几个进程号，如1932 ？

执行：sudo kill 进程号

4）安装ROS完整版：（由于使用Rviz，PCL等模块，请务必安装完整版）：

！在安装之前强烈建议换源，我换的是中科大的源

备份原始数据

cd /etc/apt/

sudo cp sources.list sources.list.bak

sudo gedit sources.list

科大源:

deb https://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse

换源后执行：

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

这一步可能要比较久，可以尝试再换源

sudo apt-cache search ros-kinetic

5）初始化ROS：

sudo rosdep init

rosdep update

！可能会遇到问题:

sudo rosdep init ERROR: cannot download default sources list from:【closed】

解决方案一：

sudo gedit /etc/hosts

在文件末尾添加151.101.84.133 raw.githubusercontent.com

保存后退出再尝试

解决方案二：

建立一个文件夹/etc/ros/rosdep/sources.list.d 就一直sudo mkdir **** cd ***

然后写入文件:

sudo gedit 20-default.list

输入网址(https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list)里面的内容（如下），保存

#os-specific listings first
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx
#generic
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
gbpdistro https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml fuerte
#newer distributions (Groovy, Hydro, …) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead

6）添加环境变量：

echo “source /opt/ros/kinetic/setup.bash” >> ~/.bashrc

source ~/.bashrc

更新ROS环境变量

source /opt/ros/kinetic/setup.bash

7）测试ROS是否安装成功：

开启一个新的Teminnal，输入：

roscore

测试Rviz

开启一个新的Teminnal，输入：

rviz