系统环境
| 系统 | 版本 |
|---|---|
| Ubuntu | 18.04.1 |
| ROS | Melodic Morenia |
| GitHub | https://github.com/ros/ |
添加安装源
sudo sh -c ‘. /etc/lsb-release && echo “deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main” > /etc/apt/sources.list.d/ros-latest.list’
添加秘钥
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
安装系统
sudo apt update
sudo apt install ros-melodic-desktop-full --fix-missing
初始化
sudo rosdep init
rosdep update
环境配置
echo “source /opt/ros/melodic/setup.bash” >> ~/.bashrc
source ~/.bashrc
source /opt/ros/melodic/setup.bash
echo “source /opt/ros/melodic/setup.zsh” >> ~/.zshrc
source ~/.zshrc
构建依赖
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential rosbash rospack-tools
启动系统
roscore
运行测试程序
打开四个ternimal标签分别运行以下命令：
roscore
rosrun turtlesim turtlesim_node
rosrun rqt_graph rqt_graph
rosrun turtlesim turtle_teleop_key
