ubuntu安裝Ros開發環境

ROS版本選擇

選擇Melodic Morenia (May 2018 - May 2023)版本ROS

ROS安裝步驟

1. 軟件中心配置如下，確保可以更新到資源
   
2. 添加ROS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'

3. 添加密鑰
   注：recv-key根據實際電腦修改，執行sudo apt update根據提示取得公鑰id

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key F42ED6FBAB17C654

4. 安裝ROS

sudo apt update
sudo apt install ros-melodic-desktop-full

5. 初始化rosdep

sudo rosdep init
rosdep update

6. 設置環境變量

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

7. 安裝rosinstall

sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential

8. 最後…驗證下安裝的效果

roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key

ROS安裝步驟參考

http://wike.ros.org/melodic/Installation/Ubuntu

ROS官網

ROS.org