安装步骤
1、配置软件源:
2、终端输入命令配置清华源:
sudo sh -c ‘. /etc/lsb-release && echo “deb
http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME
main” > /etc/apt/sources.list.d/ros-latest.list’
3、设置最新的密钥:
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys
F42ED6FBAB17C654
4、安装:
sudo apt-get update
sudo apt-get install ros-melodic-desktop-full sudo
apt-get install ros-melodic-rqt*
5、初始化rosdep:
sudo rosdep init
rosdep update
6、安装rosinstall:
sudo apt-get install python-rosinstall
7、加载环境设置文件:
source /opt/ros/melodic/setup.bash
8、创建并初始化工作目录(ROS使用一个名为catkin的ROS专用构建系统。为了使用它,用户需要创建并初始化):
1、
mkdir -p ~/catkin_ws/src
2、
cd ~/catkin_ws/src
3、
catkin_init_workspace
4、
cd ~/catkin_ws/
5、
catkin_make
9、设置环境变量:
sudo apt install net-tools
gedit ~/.bashrc
在文件下面添加:
# Set ROS melodic
source /opt/ros/melodic/setup.bash
source ~/catkin_ws/devel/setup.bash
# Set ROS Network
#ifconfig查看你的电脑ip地址
export ROS_HOSTNAME=192.168.89.135
export ROS_MASTER_URI=http://${ROS_HOSTNAME}:11311
# Set ROS alias command 快捷指令
alias cw='cd ~/catkin_ws'
alias cs='cd ~/catkin_ws/src'
alias cm='cd ~/catkin_ws && catkin_make'
10、进行测试:
打开三个终端分别输入:
1、
roscore
2、
rosrun turtlesim turtlesim_node
3
rosrun turtlesim turtle_teleop_key
效果图:
出现问题集合:
1、找不到rosdep命令:
手动安装 : sudo apt install python-rosdep
2、 cannot download default sources list from:
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
解决方法、担保绝对可以:点击下面链接