ROS Kinetic(ubuntu16.04) 安装

阳光穿透心脏的1/2处 2023-07-02 03:13 17阅读 0赞

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官方安装教程 [http://wiki.ros.org/cn/kinetic/Installation/Ubuntu][http_wiki.ros.org_cn_kinetic_Installation_Ubuntu]

1.  添加源

# 国外源
    sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
    
    # 国内源-清华镜像
    sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

1.  添加秘钥

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 0xB01FA116
    sudo apt-get update

报如下错

W: GPG error: http://mirrors.ustc.edu.cn/ros/ubuntu xenial InRelease: The following signatures couldn't be verified because the public key is not available: NO_PUBKEY F42ED6FBAB17C654 W: The repository 'http://mirrors.ustc.edu.cn/ros/ubuntu xenial InRelease' is not signed. N: Data from such a repository can't be authenticated and is therefore potentially dangerous to use.
    N: See apt-secure(8) manpage for repository creation and user configuration details.

> 解决办法:  
> `sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654`  
> `sudo apt-get update`

1.  安装ros

sudo apt-get install ros-kinetic-desktop-full

> 安装完成后，可以用下面的命令来查看可使用的包  
> `apt-cache search ros-kinetic`
> 
> 如果想安装个别功能包，请使用如下命令。  
> `sudo apt-get install ros-kinetic-<包名称>`

1.  初始化

sudo rosdep init
    Wrote /etc/ros/rosdep/sources.list.d/20-default.list
    Recommended: please run
    
    	rosdep update

> 可能报如下错误  
> ERROR: cannot download default sources list from: https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list  
> 可能是源未设置对，就直接安装，解决办法：卸载重装  
> `sudo apt-get remove ros-*`

按提示，更新rosdep

rosdep update
    reading in sources list data from /etc/ros/rosdep/sources.list.d
    Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
    Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
    Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
    Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
    Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
    Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml
    Skip end-of-life distro "ardent"
    Skip end-of-life distro "bouncy"
    Skip end-of-life distro "crystal"
    Add distro "dashing"
    Add distro "eloquent"
    Add distro "foxy"
    Skip end-of-life distro "groovy"
    Skip end-of-life distro "hydro"
    Skip end-of-life distro "indigo"
    Skip end-of-life distro "jade"
    Add distro "kinetic"
    Skip end-of-life distro "lunar"
    Add distro "melodic"
    Add distro "noetic"
    updated cache in /home/<you_account>/.ros/rosdep/sources.cache

1.  安装rosinstall

# 这是安装ROS各种功能包的程序。很有用的工具，务必安装
    sudo apt-get install python-rosinstall

1.  环境变量设置

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

1.  测试运行ros

roscore
    
    ... logging to /home/bing/.ros/log/1a27860c-3e11-11ea-8ac5-e4f89cf2cb32/roslaunch-bing-Lenovo-Y50p-70-28894.log
    Checking log directory for disk usage. This may take awhile.
    Press Ctrl-C to interrupt
    Done checking log file disk usage. Usage is <1GB.
    
    started roslaunch server http://bing-Lenovo-Y50p-70:39251/
    ros_comm version 1.12.14
    
    
    SUMMARY
    ========
    
    PARAMETERS
     * /rosdistro: kinetic
     * /rosversion: 1.12.14
    
    NODES
    
    auto-starting new master
    process[master]: started with pid [28905]
    ROS_MASTER_URI=http://bing-Lenovo-Y50p-70:11311/
    
    setting /run_id to 1a27860c-3e11-11ea-8ac5-e4f89cf2cb32
    process[rosout-1]: started with pid [28918]
    started core service [/rosout]

1.  查看环境变量

export | grep ROS
    declare -x ROSLISP_PACKAGE_DIRECTORIES=""
    declare -x ROS_DISTRO="kinetic"
    declare -x ROS_ETC_DIR="/opt/ros/kinetic/etc/ros"
    declare -x ROS_MASTER_URI="http://localhost:11311"
    declare -x ROS_PACKAGE_PATH="/opt/ros/kinetic/share"
    declare -x ROS_PYTHON_VERSION="2"
    declare -x ROS_ROOT="/opt/ros/kinetic/share/ros"
    declare -x ROS_VERSION="1"

1.  打开一个小乌龟应用  
    分别打开两个终端ctrl+alt+t

rosrun turtlesim turtlesim_node
    rosrun turtlesim turtle_teleop_key

[http_wiki.ros.org_cn_kinetic_Installation_Ubuntu]: http://wiki.ros.org/cn/kinetic/Installation/Ubuntu