机器人开发:ubuntu系统ros安装
ubuntu:16.04
ros:kinetic
参考
ubuntu与ros版本匹配
https://wiki.ros.org/Distributions
ubuntu 16.04
设置清华更新源
ros(kinetic版本)安装
ROS(Kinetic)仅支撑Ubuntu 15.10、Ubuntu 16.04、Debian 8
- 设置
sources.list
(清华源)
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
- 设置密钥
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
- 安装
- 更新
apt-get
sudo apt-get update
- ros桌面完整版(推荐)
sudo apt-get install ros-kinetic-desktop-full
- ros桌面版
sudo apt-get install ros-kinetic-desktop
- ros基本版
sudo apt-get install ros-kinetic-ros-base
- ros包
sudo apt-get install ros-kinetic-PACKAGE
- 查找可用包
apt-cache search ros-kinetic
- 激活环境
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
- 编译包依赖
rosinstall
sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
- 初始化
rosdep
(编译源码、运行ros核心组件)
sudo rosdep init
rosdep update
p.s.
rosdep init & update
报错解决
rosdep init
报错:
ERROR: cannot download default sources list from:
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
Website may be down.
原因:raw.githubusercontent.com
遭dns污染被墙,需要添加正确的ip。
sudo gedit /etc/hosts
在文件末尾添加199.232.28.133 raw.githubusercontent.com
。
rosdep update
超时报错:暴力重试
#!/bin/bash
for i in $(seq 1 10000)
do
rosdep update
done