ROS 教程

ROS 教程

http://wiki.ros.org/ROS/Tutorials

http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment

Install ROS

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://pool.sks-keyservers.NET --recv-key 0xB01FA116
sudo apt-get install libgl1-mesa-dev-lts-utopic
sudo apt-get install ros-jade-desktop-full
sudo rosdep init

Install ROS behind proxy

sudo rosdep init  will report error 

rosdep init  ERROR: cannot download default sources list from

需要sudo使用 -E 来保留 环境变量配置 ，如之前设置过的 export http_proxy=xxxx:yyyy  

sudo -E rosdep init

 

 

Managing Your Environment

export  grep ROS
看看有没有设置环境变量

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

Create a ROS Workspace

 mkdir -p ~/catkin_ws/src

cd ~/catkin_ws/src

catkin_init_workspace
创建build he devl目录及相应的.sh
cd ~/catkin_ws/

catkin_make

source devel/setup.bash

echo $ROS_PACKAGE_PATH
发现前面多了src的目录
/home/ubuntu/catkin_ws/src:/opt/ros/jade/share:/opt/ros/jade/stacks

ROS Onboard Setup(odroid) 

有必要设置代理 建立apt.conf

odroid@odroid-desktop:~$ cat /etc/apt/apt.conf
Acquire::http::Proxy "http://172.16.2.187:8080";

因为使用的是odroid用户 ，所以使用export http_proxy=http://172.16.2.187:8080 的方法设置的代理不通。

将odroid用户加入sudoers 组

sudo usermod -aG sudo odroid

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list'
wget 设置代理 export https_proxy=htttps://172.16.2.187:8080  设置代理的情况下需要 --no-check-certificate

wget --no-check-certificate https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O -  sudo apt-key add -

sudo apt-get update

odroid@odroid-desktop:/$ sudo apt-get install ros-jade-desktop
Reading package lists... Done
Building dependency tree
Reading state information... Done
The following extra packages will be installed:
binfmt-support cmake cmake-data collada-dom-dev collada-dom2.4-dp-base
collada-dom2.4-dp-dev comerr-dev debhelper dh-apparmor docutils-common
docutils-doc freeglut3 gir1.2-gtk-2.0 graphviz hddtemp icu-devtools
krb5-multidev libapr1 libapr1-dev libaprutil1 libaprutil1-dev libassimp-dev
libassimp3 libatk1.0-dev libaudio2 libavcodec-dev libavformat-dev
libavutil-dev libboost-all-dev libboost-atomic-dev libboost-atomic1.54-dev
libboost-atomic1.54.0 libboost-chrono-dev libboost-chrono1.54-dev
libboost-chrono1.54.0 libboost-context-dev libboost-context1.54-dev
libboost-context1.54.0 libboost-coroutine-dev libboost-coroutine1.54-dev
libboost-date-time-dev libboost-date-time1.54-dev libboost-date-time1.54.0
libboost-dev libboost-exception-dev libboost-exception1.54-dev
libboost-filesystem-dev libboost-filesystem1.54-dev
libboost-filesystem1.54.0 libboost-graph-dev libboost-graph-parallel-dev
libboost-graph-parallel1.54-dev libboost-graph-parallel1.54.0
libboost-graph1.54-dev libboost-graph1.54.0 libboost-iostreams-dev
libboost-iostreams1.54-dev libboost-locale-dev libboost-locale1.54-dev
libboost-locale1.54.0 libboost-log-dev libboost-log1.54-dev
libboost-log1.54.0 libboost-math-dev libboost-math1.54-dev
libboost-math1.54.0 libboost-mpi-dev libboost-mpi-Python-dev
libboost-mpi-python1.54-dev libboost-mpi-python1.54.0 libboost-mpi1.54-dev
libboost-mpi1.54.0 libboost-program-options-dev
libboost-program-options1.54-dev libboost-program-options1.54.0
libboost-python-dev libboost-python1.54-dev libboost-python1.54.0
libboost-random-dev libboost-random1.54-dev libboost-random1.54.0
libboost-regex-dev libboost-regex1.54-dev libboost-regex1.54.0
libboost-serialization-dev libboost-serialization1.54-dev
libboost-serialization1.54.0 libboost-signals-dev libboost-signals1.54-dev
libboost-signals1.54.0 libboost-system-dev libboost-system1.54-dev
libboost-system1.54.0 libboost-test-dev libboost-test1.54-dev
libboost-test1.54.0 libboost-thread-dev libboost-thread1.54-dev
libboost-thread1.54.0 libboost-timer-dev libboost-timer1.54-dev
libboost-timer1.54.0 libboost-tools-dev libboost-wave-dev
libboost-wave1.54-dev libboost-wave1.54.0 libboost1.54-dev
libboost1.54-tools-dev libbz2-dev libcairo-script-interpreter2 libcairo2-dev
libcdt5 libcgraph6 libconsole-bridge-dev libconsole-bridge0.2 libcr0
libcurl4-openssl-dev libcv-dev libcvaux-dev libdc1394-22 libdc1394-22-dev
libdrm-dev libegl1-mesa-dev libeigen3-dev libexpat1-dev libfontconfig1-dev
libfreeimage-dev libfreeimage3 libfreetype6-dev libgcrypt11-dev
libgdk-pixbuf2.0-dev libgl1-mesa-dev libgles2-mesa-dev libglib2.0-dev
libglu1-mesa-dev libgnutls-dev libgnutlsxx27 libgpg-error-dev libgssrpc4
libgtest-dev libgtk2.0-dev libgvc6 libgvpr2 libharfbuzz-dev
libharfbuzz-gobject0 libhighgui-dev libhwloc-dev libhwloc-plugins libhwloc5
libibverbs-dev libibverbs1 libice-dev libicu-dev libidn11-dev libilmbase-dev
libjasper-dev libjbig-dev libjpeg-dev libjpeg-turbo8-dev libjpeg8-dev
libkadm5clnt-mit9 libkadm5srv-mit9 libkdb5-7 libkrb5-dev libldap2-dev
liblog4cxx10 liblog4cxx10-dev liblz4-1 liblz4-dev liblzma-dev
libmail-sendmail-perl libmirclient-dev libmirclient7
libmirclientplatform-mesa libmirprotobuf-dev libmirprotobuf0
libmysqlclient-dev libmysqlclient18 libodbc1 libogre-1.8-dev libogre-1.8.0
libopencv-calib3d-dev libopencv-calib3d2.4 libopencv-contrib-dev
libopencv-contrib2.4 libopencv-core-dev libopencv-core2.4 libopencv-dev
libopencv-features2d-dev libopencv-features2d2.4 libopencv-flann-dev
libopencv-flann2.4 libopencv-gpu-dev libopencv-gpu2.4 libopencv-highgui-dev
libopencv-highgui2.4 libopencv-imgproc-dev libopencv-imgproc2.4
libopencv-legacy-dev libopencv-legacy2.4 libopencv-ml-dev libopencv-ml2.4
libopencv-objdetect-dev libopencv-objdetect2.4 libopencv-ocl-dev
libopencv-ocl2.4 libopencv-photo-dev libopencv-photo2.4
libopencv-stitching-dev libopencv-stitching2.4 libopencv-superres-dev
libopencv-superres2.4 libopencv-ts-dev libopencv-ts2.4 libopencv-video-dev
libopencv-video2.4 libopencv-videostab-dev libopencv-videostab2.4
libopencv2.4-Java libopencv2.4-jni libopenexr-dev libopenmpi-dev
libopenmpi1.6 libp11-kit-dev libpango1.0-dev libpathplan4 libpci-dev
libpcre3-dev libpcrecpp0 libphonon4 libpixman-1-dev libpng12-dev libpoco-dev
libpococrypto9 libpocodata9 libpocofoundation9 libpocomysql9 libpoconet9
libpoconetssl9 libpocoodbc9 libpocosqlite9 libpocoutil9 libpocoxml9
libpocozip9 libpq-dev libpq5 libprotobuf-dev libprotobuf-lite8 libprotobuf8
libpthread-stubs0-dev libpyside-dev libpyside-py3-1.2 libpyside1.2
libpython-dev libpython2.7-dev libqhull-dev libqhull6 libqt4-dbus
libqt4-declarative libqt4-designer libqt4-dev libqt4-dev-bin libqt4-help
libqt4-network libqt4-opengl libqt4-opengl-dev libqt4-qt3support
libqt4-script libqt4-scripttools libqt4-sql libqt4-sql-MySQL libqt4-svg
libqt4-test libqt4-xml libqt4-xmlpatterns libqtassistantclient4 libqtcore4
libqtdbus4 libqtgui4 libqtwebkit-dev libqtwebkit4 libqwt-dev libqwt5-qt4
libqwt6 libraw1394-dev libraw1394-tools libraw9 librtmp-dev libsctp-dev
libsctp1 libshiboken-dev libshiboken-py3-1.2 libshiboken1.2 libsm-dev
libsqlite3-dev libssl-dev libssl-doc libswscale-dev libswscale2
libsys-hostname-long-perl libtasn1-6-dev libtiff5-dev libtiffxx5
libtinyxml-dev libtinyxml2.6.2 libtorque2 liburdfdom-dev
liburdfdom-headers-dev liburdfdom-model-state0.2 liburdfdom-model0.2
liburdfdom-sensor0.2 liburdfdom-world0.2 libwayland-dev libwxbase2.8-0
libwxgtk-media2.8-0 libwxgtk2.8-0 libx11-dev libx11-doc libx11-xcb-dev
libxau-dev libxaw7-dev libxcb-dri2-0-dev libxcb-dri3-dev libxcb-glx0-dev
libxcb-present-dev libxcb-randr0-dev libxcb-render0-dev libxcb-shape0-dev
libxcb-shm0-dev libxcb-sync-dev libxcb-xfixes0-dev libxcb1-dev
libxcomposite-dev libxcursor-dev libxdamage-dev libxdmcp-dev libxext-dev
libxfixes-dev libxft-dev libxi-dev libxinerama-dev libxml2-dev libxml2-utils
libxmu-dev libxmu-headers libxpm-dev libxrandr-dev libxrender-dev
libxshmfence-dev libxt-dev libxxf86vm-dev libyaml-0-2 libyaml-cpp-dev
libyaml-cpp0.5 libzzip-0-13 libzzip-dev lksctp-tools mesa-common-dev
mircommon-dev mpi-default-bin mpi-default-dev mysql-common
ocl-icd-libopencl1 OpenCV-data openmpi-bin openmpi-common phonon
phonon-backend-gstreamer phonon-backend-gstreamer-common
phonon-backend-gstreamer1.0 po-debconf python-catkin-pkg python-dateutil
python-dev python-docutils python-empy python-glade2 python-matplotlib
python-matplotlib-data python-netifaces python-nose python-numpy
python-opencv python-opengl python-paramiko python-pydot python-pygments
python-pyparsing python-pyside python-pyside.phonon python-pyside.qtcore
python-pyside.qtdeclarative python-pyside.qtgui python-pyside.qthelp
python-pyside.qtnetwork python-pyside.qtopengl python-pyside.qtscript
python-pyside.qtsql python-pyside.qtsvg python-pyside.qttest
python-pyside.qtuitools python-pyside.qtwebkit python-pyside.qtxml
python-qt4 python-qt4-dev python-qt4-gl python-qwt5-qt4 python-roman
python-rosdep python-rosdistro python-rospkg python-setuptools python-sip
python-sip-dev python-support python-tk python-tz python-wxgtk2.8
python-wxversion python-yaml python2.7-dev qdbus qt4-linguist-tools
qt4-qmake qtchooser qtcore4-l10n ros-jade-actionlib ros-jade-actionlib-msgs
ros-jade-actionlib-tutorials ros-jade-angles ros-jade-bond
ros-jade-bond-core ros-jade-bondcpp ros-jade-bondpy ros-jade-catkin
ros-jade-class-loader ros-jade-cmake-modules ros-jade-collada-parser
ros-jade-collada-urdf ros-jade-common-msgs ros-jade-common-tutorials
ros-jade-control-msgs ros-jade-cpp-common ros-jade-cv-bridge
ros-jade-diagnostic-aggregator ros-jade-diagnostic-analysis
ros-jade-diagnostic-common-diagnostics ros-jade-diagnostic-msgs
ros-jade-diagnostic-updater ros-jade-diagnostics
ros-jade-dynamic-reconfigure ros-jade-eigen-conversions
ros-jade-eigen-stl-containers ros-jade-executive-smach ros-jade-filters
ros-jade-gencpp ros-jade-geneus ros-jade-genlisp ros-jade-genmsg
ros-jade-genpy ros-jade-geometric-shapes ros-jade-geometry
ros-jade-geometry-msgs ros-jade-geometry-tutorials ros-jade-image-geometry
ros-jade-image-transport ros-jade-interactive-marker-tutorials
ros-jade-interactive-markers ros-jade-joint-state-publisher
ros-jade-kdl-conversions ros-jade-kdl-parser ros-jade-laser-geometry
ros-jade-librviz-tutorial ros-jade-map-msgs ros-jade-media-export
ros-jade-message-filters ros-jade-message-generation
ros-jade-message-runtime ros-jade-mk ros-jade-nav-msgs ros-jade-nodelet
ros-jade-nodelet-core ros-jade-nodelet-topic-tools
ros-jade-nodelet-tutorial-math ros-jade-octomap ros-jade-orocos-kdl
ros-jade-pluginlib ros-jade-pluginlib-tutorials ros-jade-pr2-description
ros-jade-python-orocos-kdl ros-jade-python-qt-binding ros-jade-qt-dotgraph
ros-jade-qt-gui ros-jade-qt-gui-cpp ros-jade-qt-gui-py-common
ros-jade-random-numbers ros-jade-resource-retriever ros-jade-robot
ros-jade-robot-model ros-jade-robot-state-publisher ros-jade-ros
ros-jade-ros-base ros-jade-ros-comm ros-jade-ros-core ros-jade-ros-tutorials
ros-jade-rosbag ros-jade-rosbag-migration-rule ros-jade-rosbag-storage
ros-jade-rosbash ros-jade-rosboost-cfg ros-jade-rosbuild ros-jade-rosclean
ros-jade-rosconsole ros-jade-rosconsole-bridge ros-jade-roscpp
ros-jade-roscpp-core ros-jade-roscpp-serialization ros-jade-roscpp-traits
ros-jade-roscpp-tutorials ros-jade-roscreate ros-jade-rosgraph
ros-jade-rosgraph-msgs ros-jade-roslang ros-jade-roslaunch ros-jade-roslib
ros-jade-roslint ros-jade-roslisp ros-jade-roslz4 ros-jade-rosmake
ros-jade-rosmaster ros-jade-rosmsg ros-jade-rosnode ros-jade-rosout
ros-jade-rospack ros-jade-rosparam ros-jade-rospy ros-jade-rospy-tutorials
ros-jade-rosservice ros-jade-rostest ros-jade-rostime ros-jade-rostopic
ros-jade-rosunit ros-jade-roswtf ros-jade-rqt-action ros-jade-rqt-bag
ros-jade-rqt-bag-plugins ros-jade-rqt-common-plugins ros-jade-rqt-console
ros-jade-rqt-dep ros-jade-rqt-graph ros-jade-rqt-gui ros-jade-rqt-gui-cpp
ros-jade-rqt-gui-py ros-jade-rqt-image-view ros-jade-rqt-launch
ros-jade-rqt-logger-level ros-jade-rqt-moveit ros-jade-rqt-msg
ros-jade-rqt-nav-view ros-jade-rqt-plot ros-jade-rqt-pose-view
ros-jade-rqt-publisher ros-jade-rqt-py-common ros-jade-rqt-py-console
ros-jade-rqt-reconfigure ros-jade-rqt-robot-dashboard
ros-jade-rqt-robot-monitor ros-jade-rqt-robot-plugins
ros-jade-rqt-robot-steering ros-jade-rqt-runtime-monitor ros-jade-rqt-rviz
ros-jade-rqt-service-caller ros-jade-rqt-shell ros-jade-rqt-srv
ros-jade-rqt-tf-tree ros-jade-rqt-top ros-jade-rqt-topic ros-jade-rqt-web
ros-jade-rviz ros-jade-rviz-plugin-tutorials ros-jade-rviz-python-tutorial
ros-jade-self-test ros-jade-sensor-msgs ros-jade-shape-msgs ros-jade-smach
ros-jade-smach-msgs ros-jade-smach-ros ros-jade-smclib ros-jade-std-msgs
ros-jade-std-srvs ros-jade-stereo-msgs ros-jade-tf ros-jade-tf-conversions
ros-jade-tf2 ros-jade-tf2-msgs ros-jade-tf2-py ros-jade-tf2-ros
ros-jade-topic-tools ros-jade-trajectory-msgs ros-jade-turtle-actionlib
ros-jade-turtle-tf ros-jade-turtle-tf2 ros-jade-turtlesim ros-jade-urdf
ros-jade-urdf-parser-plugin ros-jade-urdf-tutorial
ros-jade-visualization-marker-tutorials ros-jade-visualization-msgs
ros-jade-visualization-tutorials ros-jade-viz ros-jade-xacro
ros-jade-xmlrpcpp sbcl shiboken sip-dev tango-icon-theme uuid-dev
x11proto-composite-dev x11proto-core-dev x11proto-damage-dev
x11proto-dri2-dev x11proto-fixes-dev x11proto-gl-dev x11proto-input-dev
x11proto-kb-dev x11proto-randr-dev x11proto-render-dev x11proto-xext-dev
x11proto-xf86vidmode-dev x11proto-xinerama-dev xorg-sgml-doctools xtrans-dev
zlib1g-dev
Suggested packages:
codeblocks eclipse dh-make apparmor-easyprof graphviz-doc ksensors krb5-doc
nas libgsm1-dev libogg-dev libschroedinger-dev libspeex-dev libtheora-dev
libvorbis-dev libboost-doc libboost1.54-doc python-pyste
libboost-coroutine.54-dev libboost-log.54-dev libmpfrc++-dev libntl-dev
xsltproc doxygen docbook-xml docbook-xsl default-jdk fop libcairo2-doc
blcr-dkms libcurl4-doc libcurl3-dbg libeigen3-doc libmrpt-dev
libgcrypt11-doc libglib2.0-doc gnutls26-doc gnutls-bin krb5-user
libgtk2.0-doc libhwloc-contrib-plugins libice-doc icu-doc liblog4cxx10-doc
liblzma-doc libmyodbc odbc-postgresql tdsodbc unixodbc-bin ogre-1.8-doc
libpango1.0-doc imagemagick libpoco-doc libpococrypto9-dbg libpocodata9-dbg
libpocofoundation9-dbg libpocomysql9-dbg libpoconet9-dbg libpoconetssl9-dbg
libpocoodbc9-dbg libpocosqlite9-dbg libpocoutil9-dbg libpocoxml9-dbg
libpocozip9-dbg postgresql-doc-9.3 libqt4-declarative-folderlistmodel
libqt4-declarative-gestures libqt4-declarative-particles
libqt4-declarative-shaders qt4-qmlviewer firebird-dev libsqlite0-dev
qt4-dev-tools qt4-doc unixodbc-dev libicu48 qt4-qtconfig libraw1394-doc
libsm-doc sqlite3-doc libtinyxml-doc libxaw-doc libxcb-doc libxext-doc
libxt-doc opencl-icd gfortran openmpi-checkpoint phonon-backend-vlc
gstreamer1.0-plugins-ugly phonon4qt5-backend-gstreamer libmail-box-perl
texlive-latex-recommended texlive-latex-base texlive-lang-french
fonts-linuxlibertine ttf-Linux-libertine python-gtk2-doc dvipng inkscape
ipython python-excelerator python-matplotlib-doc python-scipy python-tornado
python-traits texlive-extra-utils texlive-latex-extra ttf-staypuft
python-coverage python-nose-doc python-numpy-dbg python-numpy-doc libgle3
ttf-bitstream-vera python-qt4-dbg python-sip-doc tix python-tk-dbg wx2.8-doc
wx2.8-examples editra qt4-default qt5-default sbcl-doc sbcl-source slime
kdelibs-data
The following NEW packages will be installed:
binfmt-support cmake cmake-data collada-dom-dev collada-dom2.4-dp-base
collada-dom2.4-dp-dev comerr-dev debhelper dh-apparmor docutils-common
docutils-doc freeglut3 gir1.2-gtk-2.0 graphviz hddtemp icu-devtools
krb5-multidev libapr1 libapr1-dev libaprutil1 libaprutil1-dev libassimp-dev
libassimp3 libatk1.0-dev libaudio2 libavcodec-dev libavformat-dev
libavutil-dev libboost-all-dev libboost-atomic-dev libboost-atomic1.54-dev
libboost-atomic1.54.0 libboost-chrono-dev libboost-chrono1.54-dev
libboost-chrono1.54.0 libboost-context-dev libboost-context1.54-dev
libboost-context1.54.0 libboost-coroutine-dev libboost-coroutine1.54-dev
libboost-date-time-dev libboost-date-time1.54-dev libboost-date-time1.54.0
libboost-dev libboost-exception-dev libboost-exception1.54-dev
libboost-filesystem-dev libboost-filesystem1.54-dev
libboost-filesystem1.54.0 libboost-graph-dev libboost-graph-parallel-dev
libboost-graph-parallel1.54-dev libboost-graph-parallel1.54.0
libboost-graph1.54-dev libboost-graph1.54.0 libboost-iostreams-dev
libboost-iostreams1.54-dev libboost-locale-dev libboost-locale1.54-dev
libboost-locale1.54.0 libboost-log-dev libboost-log1.54-dev
libboost-log1.54.0 libboost-math-dev libboost-math1.54-dev
libboost-math1.54.0 libboost-mpi-dev libboost-mpi-python-dev
libboost-mpi-python1.54-dev libboost-mpi-python1.54.0 libboost-mpi1.54-dev
libboost-mpi1.54.0 libboost-program-options-dev
libboost-program-options1.54-dev libboost-program-options1.54.0
libboost-python-dev libboost-python1.54-dev libboost-python1.54.0
libboost-random-dev libboost-random1.54-dev libboost-random1.54.0
libboost-regex-dev libboost-regex1.54-dev libboost-regex1.54.0
libboost-serialization-dev libboost-serialization1.54-dev
libboost-serialization1.54.0 libboost-signals-dev libboost-signals1.54-dev
libboost-signals1.54.0 libboost-system-dev libboost-system1.54-dev
libboost-system1.54.0 libboost-test-dev libboost-test1.54-dev
libboost-test1.54.0 libboost-thread-dev libboost-thread1.54-dev
libboost-thread1.54.0 libboost-timer-dev libboost-timer1.54-dev
libboost-timer1.54.0 libboost-tools-dev libboost-wave-dev
libboost-wave1.54-dev libboost-wave1.54.0 libboost1.54-dev
libboost1.54-tools-dev libbz2-dev libcairo-script-interpreter2 libcairo2-dev
libcdt5 libcgraph6 libconsole-bridge-dev libconsole-bridge0.2 libcr0
libcurl4-openssl-dev libcv-dev libcvaux-dev libdc1394-22 libdc1394-22-dev
libdrm-dev libegl1-mesa-dev libeigen3-dev libexpat1-dev libfontconfig1-dev
libfreeimage-dev libfreeimage3 libfreetype6-dev libgcrypt11-dev
libgdk-pixbuf2.0-dev libgl1-mesa-dev libgles2-mesa-dev libglib2.0-dev
libglu1-mesa-dev libgnutls-dev libgnutlsxx27 libgpg-error-dev libgssrpc4
libgtest-dev libgtk2.0-dev libgvc6 libgvpr2 libharfbuzz-dev
libharfbuzz-gobject0 libhighgui-dev libhwloc-dev libhwloc-plugins libhwloc5
libibverbs-dev libibverbs1 libice-dev libicu-dev libidn11-dev libilmbase-dev
libjasper-dev libjbig-dev libjpeg-dev libjpeg-turbo8-dev libjpeg8-dev
libkadm5clnt-mit9 libkadm5srv-mit9 libkdb5-7 libkrb5-dev libldap2-dev
liblog4cxx10 liblog4cxx10-dev liblz4-1 liblz4-dev liblzma-dev
libmail-sendmail-perl libmirclient-dev libmirclient7
libmirclientplatform-mesa libmirprotobuf-dev libmirprotobuf0
libmysqlclient-dev libmysqlclient18 libodbc1 libogre-1.8-dev libogre-1.8.0
libopencv-calib3d-dev libopencv-calib3d2.4 libopencv-contrib-dev
libopencv-contrib2.4 libopencv-core-dev libopencv-core2.4 libopencv-dev
libopencv-features2d-dev libopencv-features2d2.4 libopencv-flann-dev
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以上是所有东西都装，空间不足的话只选择需要安装的组件

sudo apt-get install ros-indigo-ros-base ros-indigo-usb-cam ros-indigo-mavlink ros-indigo-mavros ros-indigo-cv-bridge ros-indigo-image-proc

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

Set the ROS binary path :

echo "source /opt/ros/indigo/setup.bash" >> ~/.profile
source ~/.profile

Set up a catkin workspace :

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src catkin_init_workspace cd .. catkin_make #Even though the workspace is empty, it "compiles" which should tell you that your new setup is fine. echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc # auto sources workspace in new bash sessions source ~/.bashrc

ROS Getting Started Tutorial