ROS环境安装配置

Ubuntu与ROS版本对应关系

Ubuntu	ROS 1.0	ROS2.0
16.04 LTS	Kinetic LTS	Ardent
18.04 LTS	Melodic LTS	Dashing LTS
20.04 LTS	Noetic LTS	Foxy LTS

安装过程

过程按照Ubuntu18.04 版本安装ROS记录的，如果使用的其他版本或者ROS2.0需要根据文章开头的表格进行修改

添加源

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

设置秘钥

$ sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

安装ROS

sudo apt-get install ros-melodic-desktop-full

查看可使用的包

sudo apt-cache search ros-melodic

配置环境到系统

sudo apt-get install python-rosdep
sudo rosdep init
rosdep update

初始化环境变量

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc

验证

roscore

安装 Gazebo

sudo apt-get update
sudo apt-get install lsb-release wget gnupg
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install ignition-citadel