ROS环境搭建（indigo）

ROS环境搭建（indigo）

小狼@http://blog.csdn.net/xiaolangyangyang

一、安装ubuntu14.04

二、安装ROS（indigo）

http://wiki.ros.org/indigo/Installation/Ubuntu

三、可能用到的Packages

# sudo apt-get install -y \

ros-indigo-turtlebot-bringup \

ros-indigo-turtlebot-create-desktop \

ros-indigo-openni-* \

ros-indigo-openni2-* \

ros-indigo-freenect-* \

ros-indigo-usb-cam \

ros-indigo-laser-* \

ros-indigo-hokuyo-node \

ros-indigo-audio-common \

gstreamer0.10-pocketsphinx \

ros-indigo-pocketsphinx \

ros-indigo-slam-gmapping \

ros-indigo-joystick-drivers \

Python-rosinstall \

ros-indigo-orocos-kdl \

ros-indigo-python-orocos-kdl \

python-setuptools \

ros-indigo-dynamixel-motor-* \

libopencv-dev \

python-OpenCV \

ros-indigo-vision-opencv \

ros-indigo-depthimage-to-laserscan \

ros-indigo-arbotix-* \

ros-indigo-turtlebot-teleop \

ros-indigo-move-base \

ros-indigo-map-server \

ros-indigo-fake-localization \

ros-indigo-amcl \

Git \

subversion \

mercurial

四、创建工作空间

# printenv | grep ROS

# source /opt/ros/indigo/setup.bash

# mkdir -p ~/catkin_ws/src

# cd ~/catkin_ws/src

# catkin_init_workspace

# cd ~/catkin_ws/

# catkin_make

# source devel/setup.bash

# echo $ROS_PACKAGE_PATH/home/youruser/catkin_ws/src:/opt/ros/kinetic/share

五、下载rbx1例子

# cd ~/catkin_ws/src# git clone https://github.com/pirobot/rbx1.git# cd rbx1# git checkout indigo-devel# cd ~/catkin_ws# catkin_make# source ~/catkin_ws/devel/setup.bash# rospack profile

或者

# cd ~/catkin_ws/src

# git clone https://github.com/pirobot/rbx1.git

# cd rbx1

# rosmake

六、测试arbotix simulator

# roscore

# roslaunch rbx1_bringup fake_turtlebot.launch

# rosrun rviz rviz -d `rospack find rbx1_nav`/sim.rviz

# rostopic pub -r 10 /cmd_vel geometry_msgs/Twist '{linear: {x: 0.2, y: 0, z: 0}, angular: {x: 0, y: 0, z: 0.5}}'

# rostopic pub -1 /cmd_vel geometry_msgs/Twist '{}'

参考文献：

ROS Learning-001 安装 ROS indigo