前期准备
=》=》
设置软件源:
国外的:
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
国内的,速度快:
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
清华的:
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
设置最新的密钥:
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654
安装:
-
sudo apt
-
get
update
-
sudo apt
-
get install ros
-melodic
-desktop
-
full
-
sudo apt
-
get install ros
-melodic
-rqt
*
初始化rosdep:
-
sudo rosdep
init
-
rosdep update
如果出现下面情况,基本是网络问题,换个网络尝试下(PS:我用手机热点解决的):
-
lee@lee-TM
1801:~$ sudo rosdep init
-
ERROR: cannot download
default
sources list
from:
-
https:
/
/raw.githubusercontent.com
/ros
/rosdistro
/master
/rosdep
/
sources.list.d
/
20-
default.list
-
Website may be
down.
访问 The Best IP Address, Email and Networking Tools - IPAddress.com, 查询 raw.githubusercontent.com 的ip地址
我的是185.199.108.133
sudo gedit /etc/hosts
185.199.108.133 raw.githubusercontent.com
安装rosinstall
sudo apt-get install python-rosinstall
加载环境设置文件
source /opt/ros/melodic/setup.bash
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
catkin工作目录,如下所示。除非用户创建新的工作目录,否则此设置只需设置一次。
-
mkdir -p ~
/catkin_ws/src
-
-
cd ~
/catkin_ws/src
-
-
catkin_init_workspace
目前,只有src目录和CMakeLists.txt文件在catkin工作目录中,使用catkin_make命令来构建
-
cd ~
/catkin_ws/
-
-
catkin_make
设置环境变量:
sudo apt install net-tools gedit ~/.bashrc
-
#
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'
小海龟测试,打开三个终端:
-
roscore
-
rosrun turtlesim turtlesim_node
-
rosrun turtlesim turtle_teleop_
key