安装WSL
首先安装WSL2,具体可以查看官方文档
这里简述一下过程:
1.用管理员运行power shell
2.启用相关选项
dism.exe /online /enable-feature /featurename:Microsoft-Windows-Subsystem-Linux /all /norestart
3.设置默认WSL版本
wsl --set-default-version 2
4.在微软商店安装一个linux版本,注意安装ROS需要是ubuntu。实验室老师要求是18.04,因此个人安装的是ubuntu18.04
5.重启windows
修改软件源
不同系统版本请自行按照清华源官方文档进行修改
#备份源文件
sudo cp /etc/apt/sources.list /etc/apt/sources_origin.list
sudo vim /etc/apt/sources.list
将文件内容全部删除,替换为以下内容
# 默认注释了源码镜像以提高 apt update 速度,如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
# 预发布软件源,不建议启用
# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse
安装ROS
根据官方文档进行安装
先更新下环境
sudo apt update
sudo apt upgrade
添加ROS包的清华镜像源
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'
设置密钥
sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
若报错 gpg: no valid OpenPGP data found.
可能为DNS污染导致,解决方法为:
通过网站查询得到raw.githubusercontent.com的真实IP地址
打开Host文件:sudo vim /etc/hosts
在最后一行添加:185.199.108.133 raw.githubusercontent.com
,若你查到的IP地址不为185.199.108.133则另作修改即可。
若卡在了这一步,请自行科学上网解决,或者自行寻找可靠的镜像站
再更新一下
sudo apt update
安装ROS
注意版本对应,14.04对应indigo,16.04对应kinetic,18.04对应melodic.20.04对应noetic,我是18.04因此这里是ros-melodic版本
sudo apt install ros-melodic-desktop-full
配置环境
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
安装一些开发包
sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
初始化依赖管理器(这一步也有timeout错误,请自行科学上网)
sudo apt install python-rosdep
sudo rosdep init
rosdep update
最后在命令行键入 roscore
即可启用ROS核心服务
再新建一个终端,输入rosrun turtlesim turtlesim_node
运行样例程序,若成功弹出乌龟窗口,即安装成功啦