解压包
当一些无法安装的源时:
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'
添加密钥
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
更新并安装
sudo apt-get update
sudo apt-get install ros-melodic-desktop-full
在ROS中,apt-get和rosdep是两个重要的命令。apt-get用于下载和管理ROS软件包,而rosdep则用于管理ROS软件包的依赖项。如果rosdep过期或版本太老,则会导致sudo:rosdep命令找不到。此时,需要使用以下命令升级rosdep
首先使用apt-get命令安装python-rosdep,然后使用rosdep init命令初始化rosdep。接着,使用rosdep update来更新rosdep的依赖项列表。更新完成后,尝试再次使用sudo:rosdep命令,看能否成功。
sudo apt-get install python-rosdep
sudo rosdep init
rosdep update
首先使用apt-get命令安装python-rosdep。安装完成后,使用rosdep fix-permissions命令修复rosdep的一些权限问题,避免一些问题的出现。最后通过rosdep update命令更新rosdep的依赖项列表,以保证rosdep能够正常工作
sudo apt-get install python-rosdep
sudo rosdep fix-permissions
rosdep update
初始化rosdepc
sudo apt-get install python-pip
sudo pip install rosdepc
运行
sudo rosdepc init
rosdepc update
刷新
echo "source /opt/ros/melodic/setup.bash" >>~/.bashrc
source ~/.bashrc
安装依赖
sudo apt-get install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
sudo dpkg -i sogoupinyin_4.2.1.145_amd64.deb
很简单,原因是这个文件夹的权限不够
sudo chmod 777 -R '/home/xxy/.ros/'
roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key
shezhigongzuo kongjian
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws
catkin_make
下载解压
复制包 : Unity-Robotics-Hub/tutorials/pick_and_place/ROS/src/
https://github.com/ros-planning/moveit_msgs
https://github.com/Unity-Technologies/ROS-TCP-Endpoint
https://github.com/NiryoRobotics/niryo_one_ros
UNITY
官网下载
推荐2020.3.6+
Unity 2020.x Unity官方下载_Unity最新版_从Unity Hub下载安装 | Unity中国官网
sudo dpkg --install UnityHubSetup.deb
切换路径 : ~/下载/Unity-Technologies/Unity-Robotics-Hub-main/tutorials/pick_and_place/ROS
sudo apt-get update && sudo apt-get upgrade
sudo apt-get install python-pip ros-melodic-robot-state-publisher ros-melodic-moveit ros-melodic-rosbridge-suite ros-melodic-joy ros-melodic-ros-control ros-melodic-ros-controllers ros-melodic-tf2-web-republisher
sudo -H pip install rospkg jsonpickle
catkin_make && source devel/setup.bash
sudo apt-get install ros-melodic-object-recognition-msgs
sudo apt-get install ros-melodic-octomap-msgs
本地运行
导航到 ~/catkin_ws
source devel/setup.bash
roslaunch ros_tcp_endpoint endpoint.launch tcp_ip:=127.0.0.1 tcp_port:=10000
打开这个文件
sudo gedit ~/.bashrc
重启bashrc
source ~/.bashrc
查看ROS路径是否添加上
echo $ROS_PACKAGE_PATH
roslaunch ros_tcp_endpoint endpoint.launch tcp_ip:=192.168.1.104 tcp_port:=10000
参考