本文參考爲ROS的官方教程http://wiki.ros.org/hydro/Installation/Ubuntu
ROS是一款機器人操作系統,截止到目前(2013年11月),最新的版本號爲hydro。據官方網站的消息,下一次更新將在2014年的4月份左右。
下面,就來說一下如何在Ubuntu下安裝ROS,我的筆記本操作系統爲Ubuntu 12.04 LTS。
首先,我們需要配置鏡像源。Ubuntu自帶的鏡像不是很穩定,我原來用的鏡像源文件是在北京理工大學FTP聯盟上找到的,我們只需要在源文件的最後加上ROS的鏡像地址就行了。
在/etc/apt下找到文件source.list,在末尾加上
deb http://packages.ros.org/ros/ubuntu precise main
如果你的Ubuntu不是12.04版本,需要把precise對應地改成你的版本號所對應的。
例如:Ubuntu 12.10 (quantal),Ubuntu 13.04 (raring)
這是我的鏡像列表:
deb http://mirrors.163.com/ubuntu/ precise main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ precise-security main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ precise-updates main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ precise-proposed main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ precise-backports main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ precise main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ precise-security main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ precise-updates main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ precise-proposed main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ precise-backports main restricted universe multiverse
deb http://archive.ubuntu.com/ubuntu/ precise main restricted universe multiverse
deb http://archive.ubuntu.com/ubuntu/ precise-security main restricted universe multiverse
deb http://archive.ubuntu.com/ubuntu/ precise-updates main restricted universe multiverse
deb http://archive.ubuntu.com/ubuntu/ precise-proposed main restricted universe multiverse
deb http://archive.ubuntu.com/ubuntu/ precise-backports main restricted universe multiverse
deb-src http://archive.ubuntu.com/ubuntu/ precise main restricted universe multiverse
deb-src http://archive.ubuntu.com/ubuntu/ precise-security main restricted universe multiverse
deb-src http://archive.ubuntu.com/ubuntu/ precise-updates main restricted universe multiverse
deb-src http://archive.ubuntu.com/ubuntu/ precise-proposed main restricted universe multiverse
deb-src http://archive.ubuntu.com/ubuntu/ precise-backports main restricted universe multiverse
## ROS mirror
deb http://packages.ros.org/ros/ubuntu precise main
添加了鏡像站點之後,我們就可以使用apt-get install 命令來進行ROS的安裝了。
接下來,我們要得到鏡像站點的密鑰,使用下面這條指令即可:
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
完成之後,使用
sudo apt-key list
檢查一下,你應該能夠看到新增了一個key是和ROS Builder對應的。
接下來,更新一下Debian包索引,
sudo apt-get update
接下來,我們就可以安裝了。ROS有多種安裝方式:
完全安裝(推薦),裏面包括ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception這些東西:
sudo apt-get install ros-hydro-desktop-full
接下來,我們需要完成rosdep的初始化。這個可以使我們能夠管理一些依賴項。
sudo rosdep init
rosdep update
然後,進行環境變量的設置。把ROS添加到Terminal的啓動中去。只需要修改當前用戶下的bash配置文件即可。
echo "source /opt/ros/hydro/setup.bash" >> ~/.bashrc
source ~/.bashrc
最後我們在home的該用戶下建立一個ROS的工作區,以後我們自己的代碼就可以放在這裏面了。
mkdir ~/catkin_ws
把我們自己的這個工作區加到環境變量中去,在~/.bashrc最後添加:
export ROS_PACKAGE_PATH=~/catkin_ws/src:$ROS_PACKAGE_PATH
這樣,就完成了ROS的基本安裝。
試着在終端下運行roscore,如果有如下顯示,說明安裝是正確的:
started roslaunch server http://xmf:37299/
ros_comm version 1.9.50
SUMMARY
========
PARAMETERS
* /rosdistro
* /rosversion
NODES
auto-starting new master
process[master]: started with pid [3533]
ROS_MASTER_URI=http://xmf:11311/
setting /run_id to 12d89fda-5641-11e3-ac0c-c0cb388888b1
process[rosout-1]: started with pid [3546]
started core service [/rosout]