ROS安装
我们这里使用的是Ubuntu 20.04系统来进行安装。
- 添加ROS软件源
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main">/etc/apt/sources.list.d/ros-latest.list'
- 添加秘钥
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
- 安装ROS
sudo apt-get update
sudo apt install ros-noetic-desktop-full
如果是Ubuntu 18.04,可以使用
sudo apt install ros-melodic-desktop-full
进行安装,此次安装的时间会比较长。
添加环境变量
sudo vim /etc/profile
内容如下
source /opt/ros/noetic/setup.bash
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/ros_ws/src
执行
source /etc/profile
sudo apt-get install python3-rosdep2
sudo vim /etc/hosts
添加内容
199.232.28.133 raw.githubusercontent.com
执行
sudo rm /etc/ros/rosdep/sources.list.d/20-default.list
sudo rosdep init
rosdep update
- 安装rosinstall
sudo apt install python3-rosinstall python3-rosinstall-generator python3-wstool
sudo apt-get install ros-noetic-roslaunch
安装完成后输入
roscore
输出
... logging to /home/guanjian/.ros/log/cb18d28e-35fe-11ee-b678-03d041231f43/roslaunch-guanjian-X99-38074.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://guanjian-X99:34311/
ros_comm version 1.16.0
SUMMARY
========
PARAMETERS
* /rosdistro: noetic
* /rosversion: 1.16.0
NODES
auto-starting new master
process[master]: started with pid [38083]
ROS_MASTER_URI=http://guanjian-X99:11311/
setting /run_id to cb18d28e-35fe-11ee-b678-03d041231f43
process[rosout-1]: started with pid [38093]
started core service [/rosout]
表示安装成功
- 测试
sudo apt install ros-noetic-rosbash
sudo apt install ros-noetic-catkin
sudo apt-get install ros-noetic-turtlesim
执行
rosrun turtlesim turtlesim_node
会出现一个小海龟的画面
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