安裝ROS
ubuntu版本:16.04
更改映象源
開啟終端,輸入 sudo gedit /etc/apt/sources.list
將裡面內容替換為:
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
開啟系統設定->點選“軟體和升級”->點選“其他軟體”->點選左下角“新增”按鈕
APT行裡輸入:deb http://ros.exbot.net/rospackage/ros/ubuntu/ xenial main
開始安裝ros
1.設定Ubuntu的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.新增key
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 0xB01FA116
3.更新package
sudo apt-get update
sudo apt-get upgrade
建議在安裝所有軟體前都要執行這兩個命令
4.安裝aptitude
aptitude是一款十分強大的安裝工具,比如安裝程式時能分析出各種依賴問題,建議使用aptitude安裝程式
sudo apt-get install aptitude
5.安裝ROS kinetic完整版
sudo aptitude install ros-kinetic-desktop-full
6.初始化rosdep
在使用ros之前一定要進行初始化
sudo rosdep init
rosdep update
7.配置環境
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
8. 安裝building package的依賴
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
9. 測試ROS是否安裝成功
開啟一個終端輸入 roscore
再開啟一個視窗,輸入:
rosrun turtlesim turtlesim_node
出現一隻小烏龜,再開啟一個視窗,輸入:
rosrun turtlesim turtle_teleop_key
在最後一個終端視窗,鍵盤方向鍵能控制小烏龜的移動,說明安裝成功。
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參考:https://blog.csdn.net/sinat_39411798/article/details/80591605