ROS安装

ROS安装

安装步骤

# 在清华镜像源中https://mirrors.tuna.tsinghua.edu.cn/help/ros/找到与ubuntu版本对应的ros地址，18.04是bionic 20.04是focal 
sudo sh -c 'echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ bionic main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt update
# 20.04安装ros-noetic-desktop-full，18.04安装ros-melodic-desktop-full
sudo apt install ros-melodic-desktop-full
sudo pip install rosdepc # pip没有的话试试pip3 如果指令都不行，sudo apt-get install python3-pip
sudo rosdepc init
rosdepc update
# 18.04使用melodic，20.04使用noetic
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential

roscore 提示下面的错误的话

报上述错误的话，执行下面的指令

sudo apt update
sudo apt upgrade
sudo apt-get install ros-melodic-desktop ros-melodic-perception ros-melodic-perception ros-melodic-simulators
sudo apt-get install ros-melodic-desktop-full
source ~/.bashrc

启动小海龟

# 第一个终端
roscore
# 第二个终端
rosrun turtlesim turtlesim_node
# 第三个终端
rosrun turtlesim turtle_teteop_key