Ubuntu20.04 安装ROS
1 Ubuntu20.04 安装ROS
1.1 阿里云镜像源
文献【1】:Ubuntu20.04安装ros及其应用
(1)软件和更新选择:阿里云镜像
(2)备份源文件
sudo cp /etc/apt/sources.list /etc/apt/sources.list.backup
(3)编辑sources.list文件
sudo gedit /etc/apt/sources.list
(4)更新为阿里源后的sources.list内容:
deb http://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiverse
(5)更新软件列表
sudo apt-get update
sudo apt-get upgrade
1.2 配置ROS
(1)添加sources.list
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
(2)添加keys
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
(3)更新
sudo apt update
1.3 正式安装ROS
后续文献中写的非常详细,从【第5步:正式开始安装ROS】开始看。
详解Ubuntu20.04上安装ROS系统
1.4 文献
【1】:Ubuntu20.04安装ros及其应用
【2】:详解Ubuntu20.04上安装ROS系统
2 Vins-Mono
看文献:
基本上就能解决,写的很全面。
Matebook14 Ubuntu20.04 ROS-Noetic运行VINS-MONO
其中有篇文献
注意的地方:
选择noetic
修改cv_bridge中的cmakelists.txt
# set(_opencv_version 4)
set(_opencv_version 3)
# find_package(OpenCV 4 QUIET)
find_package(OpenCV 3.4.15 QUIET)
我是在src下Vins-mono下面的全部cmaklist.txt最开始一行添加了:
set(cv_bridge_DIR /usr/local/share/cv_bridge/cmake)
上述中的loop_fusion我用命令下载下的Vins-mono没有。