ROS环境配置

主要参考链接：

http://emanual.robotis.com/docs/en/platform/turtlebot3/machine_learning/#machine-learning
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1、Anaconda2 安装

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ROS 1中使用的是 python2.7，所以在地址：https://www.anaconda.com/download/#linux 中下载 python2.7版本的Anaconda2 ，安装过程如下：

chmod +x Anaconda2-5.2.0-Linux-x86_64.sh
 
bash Anaconda2-5.2.0-Linux-x86_64.sh

安装完成后，执行下面指令, 如果可以看到 Python 2.7.xx :: Anaconda, Inc…，说明安装成功。

source ~/.bashrc
 
python -V

接下来配置环境变量 PYTHONPATH，编辑 ~/.bashrc ，修改或者添加内容如下：

#export PYTHONPATH="/usr/lib/python2.7/dist-packages:$PYTHONPATH"
 
export PYTHONPATH="/home/wsc/anaconda2/lib/python2.7/dist-packages:$PYTHONPATH"

2、 ROS 依赖包安装

pip install -U rosinstall msgpack empy defusedxml netifaces

3、虚拟环境创建、pytorch安装

创建名为pytorch1的虚拟环境

conda create -n pytorch1 pip python=2.7

进入或者离开虚拟环境的指令为：

# To activate this environment, use:
# > source activate tensorflow
#
# To deactivate an active environment, use:
# > source deactivate

在虚拟环境中安装pytorch以及ROS依赖包：

source activate pytorch1
 
pip install -U rosinstall msgpack empy defusedxml netifaces

pip install torch==1.4.0+cpu torchvision==0.5.0+cpu -f https://download.pytorch.org/whl/torch_stable.html

完成后检验是否有错误：

    python
    import torch
    import torchvision

若没有报错则完成。

如果输入import torch出现以下情况：

>>> import torch
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File "/home/lyd/anaconda2/envs/tensorflow/lib/python2.7/site-packages/torch/__init__.py", line 19, in <module>
    from ._six import string_classes as _string_classes
  File "/home/lyd/anaconda2/envs/tensorflow/lib/python2.7/site-packages/torch/_six.py", line 23, in <module>
    import builtins
ImportError: No module named builtins

则返回虚拟空间安装：

pip install future

最后的 .bashrc 文件

source /opt/ros/kinetic/setup.bash
source /home/lyd/catkin_ws/devel/setup.bash

# added by Anaconda2 installer
export PATH="/home/lyd/anaconda2/bin:$PATH"
export PYTHONPATH="/home/wsc/anaconda2/lib/python2.7/dist-packages:$PYTHONPATH"
export SVGA_VGPU10=0
export TURTLEBOT3_MODEL=burger