ubuntu 18.04-desktop 安裝ros 機器人開發環境——築夢之路

ubuntu 18.04-desktop  安裝ros 機器人開發環境

需要注意的是這裏要安裝桌面版系統，ros會涉及到圖形程序和建模

百度百科的介紹：https://baike.baidu.com/item/ros/4710560?fr=aladdin

#備份自帶的軟件源
sudo cp /etc/apt/sources.list /etc/apt/sources.list.bak
#創建新的國內軟件源，阿里雲、網易、清華大學、中科大均可
sudo vim /etc/apt/sources.list
#中科大的源
deb https://mirrors.ustc.edu.cn/ubuntu/ bionic main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse

#更新軟件
sudo apt-get update
#升級
sudo apt-get upgrade -y   

#添加ros的軟件源
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
#拉取密鑰
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
#更新
sudo apt update
#安裝
sudo apt install ros-melodic-desktop-full
#初始化
sudo rosdep init
#更新
rosdep update
#配置環境變量
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
#使環境變量生效
source ~/.bashrc
#安裝一些構建依賴包
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential

#測試驗證
roscore

安裝ROS2 dashing
#語言環境
sudo locale-gen en_US en_US.UTF-8
#更新
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
#環境生效
export LANG=en_US.UTF-8
#升級和安裝一些包
sudo apt update && sudo apt install curl gnupg2 lsb-release
#下載
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
#添加源
sudo sh -c 'echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu lsb_release -cs main" > /etc/apt/sources.list.d/ros2-latest.list'
#更新
sudo apt update
#安裝
sudo apt install ros-dashing-desktop
#安裝依賴
sudo apt install python3-argcomplete
#執行腳本
source /opt/ros/dashing/setup.bash
#加入環境變量
echo "source /opt/ros/dashing/setup.bash" >> ~/.bashrc
#使環境變量生效
source .bashrc
#更新
sudo apt update
#安裝
sudo apt install ros-dashing-ros1-bridge

#安裝完成後進行測試
終端中輸入命令 ros2 -h

#其他
sudo apt -y install ros-melodic-robot-upstart ros-melodic-joy ros-melodic-ps3joy ros-melodic-joystick-drivers ros-melodic-rosbridge-suite \
	ssh proftpd-basic libudev-dev vim net-tools