ROS学习历程（一）———— ros安装

首先，ROS需要在Linux系统下运行，读者需要有相对应的系统或者虚拟机（我用的是虚拟机，毕竟没钱那）

虚拟机资源：链接：https://pan.baidu.com/s/1ljKHflO3pb1QHalbiqNXgA 密码：5nch

 

我在这里用的ROS版本是Kinetic 操作系统是Ubuntu，安装步骤可以参考官网的安装步骤，也可以看我下面写的，速度可能快点。

官网安装网址：http://wiki.ros.org/kinetic/Installation/Ubuntu

 

首先打开Ubuntu的这个：

 

 

搜索software & Updates

将红圈部分全部打钩

因为ros的安装如果直接安装的话会非常慢，所以这里需要换一下源，选择国内的源来进行下载，速度会非常快，虽然下的时间还是比较长，但是已经不错了。

Ctrl+Alt+T打开一个终端：

输入gedit /etc/apt/sources.list

打开source.list文件，里面的内容最好先保存一下（虽然我当时没有保存，但是万一要用到呢）

如何备份文件请自行百度

打开sources.list 将一下内容复制到里面，然后保存退出。

deb-src http://archive.ubuntu.com/ubuntu xenial main restricted #Added by software-properties  
deb http://mirrors.aliyun.com/ubuntu/ xenial main restricted  
deb-src http://mirrors.aliyun.com/ubuntu/ xenial main restricted multiverse universe #Added by software-properties  
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted  
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted multiverse universe #Added by software-properties  
deb http://mirrors.aliyun.com/ubuntu/ xenial universe  
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates universe  
deb http://mirrors.aliyun.com/ubuntu/ xenial multiverse  
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates multiverse  
deb http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse  
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse #Added by software-properties  
deb http://archive.canonical.com/ubuntu xenial partner  
deb-src http://archive.canonical.com/ubuntu xenial partner  
deb http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted  
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted multiverse universe #Added by software-properties  
deb http://mirrors.aliyun.com/ubuntu/ xenial-security universe  
deb http://mirrors.aliyun.com/ubuntu/ xenial-security multiverse 

设置好源之后，就可以真正的安装ros啦

打开终端，输入：

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

添加秘钥：

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A389552
3BAEEB01FA116

现在读者已经将ROS版本库地址放在代码列表中，然后更新下软件包

sudo apt-get update && sudo apt-get upgrade -y

安装ros

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

内容有点大，需要耐心等待。

安装完之后我们还不能使用，需要配置一下

安装rosdep

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

配置一下环境

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

好了，到这里，你就算是安装完了，来吧，最后再检查一下

打开一个终端，输入roscore，如果出现一下内容，那就恭喜你，安装成功了

... logging to /home/ros/.ros/log/3958fcaa-a3c0-11e8-92cd-000c2965988a/roslaunch-ubuntu-4658.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://ubuntu:33967/
ros_comm version 1.12.13


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.13

NODES

auto-starting new master
process[master]: started with pid [4669]
ROS_MASTER_URI=http://ubuntu:11311/

setting /run_id to 3958fcaa-a3c0-11e8-92cd-000c2965988a
process[rosout-1]: started with pid [4682]
started core service [/rosout]