.ROS安装及例程[1]
ROS安装
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添加ROS软件源
$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
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添加密钥
$ sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
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安装ROS
ubuntu16.04对应安装ROS版本为kinetic
$ sudo apt-get update
$ sudo apt-get install ros-kinetic-desktop-full
ubuntu18.04对应安装ROS版本为melodic
$ sudo apt-get update
$ sudo apt-get install ros-melodic-desktop-full
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初始化rosdep
$ sudo rosdep init
$ rosdep update
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设置环境变量
$ echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
$source ~/.bashrc
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安装rosintall
$ sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential
TurtleSim示例运行
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启动ROS Master
$ roscore
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启动小海龟仿真器
$ rosrun turtlesim turtlesim_node
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启动海龟控制节点
$ rosrun turtlesim turtle_teleop_key
现在可以使用键盘上下左右来控制海龟移动!
参考资料
古月居,ROS入门12讲: https://www.bilibili.com/video/BV1zt411G7Vn?p=5。