ubuntu18.04 unity ROS

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

unity-tech-cn/Unity-Robotics-Hub - tutorials/pick_and_place/1_urdf.md at main - Unity-Robotics-Hub - Plastic Hub