ROS下载与安装
本文仅仅作为学习笔记，有兴趣的童鞋可以一起学习并提出宝贵意见。
初次接触ROS，现在开始学习安装和配置环境：（下面一些文字转自ros.org，版权属于原网站，本文仅作学习笔记。文章为英文，顺便复习一下英文吧！）
Installation
Configure your Ubuntu repositories
Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse." You can follow the Ubuntu guidefor instructions on doing this.
Setup your sources.list
Setup your computer to accept software from packages.ros.org.
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sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
| Mirrors |
Source Debs are also available |
Set up your keys
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sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
If you experience issues connecting to the keyserver, you can try substituting hkp://pgp.mit.edu:80 or hkp://keyserver.ubuntu.com:80 in the previous command.
Alternatively, you can use curl instead of the apt-key command, which can be helpful if you are behind a proxy server:
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curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | sudo apt-key add -
Installation
First, make sure your Debian package index is up-to-date:
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sudo apt update
There are many different libraries and tools in ROS. We provided four default configurations to get you started. You can also install ROS packages individually.
In case of problems with the next step, you can use following repositories instead of the ones mentioned above ros-shadow-fixed
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Desktop-Full Install: (Recommended) : ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators and 2D/3D perception
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sudo apt install ros-melodic-desktop-full
or click here
Desktop Install: ROS, rqt, rviz, and robot-generic libraries
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sudo apt install ros-melodic-desktop
or click here
ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools.
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sudo apt install ros-melodic-ros-base
or click here
Individual Package: You can also install a specific ROS package (replace underscores with dashes of the package name):
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sudo apt install ros-melodic-PACKAGE
e.g.sudo apt install ros-melodic-slam-gmapping
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To find available packages, use:
apt search ros-melodic
Initialize rosdep
Before you can use ROS, you will need to initialize rosdep. rosdep enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS.
sudo rosdep init rosdep update
Environment setup
It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched:
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc source ~/.bashrc
If you have more than one ROS distribution installed, ~/.bashrc must only source the setup.bash for the version you are currently using.
If you just want to change the environment of your current shell, instead of the above you can type:
source /opt/ros/melodic/setup.bash
If you use zsh instead of bash you need to run the following commands to set up your shell:
echo "source /opt/ros/melodic/setup.zsh" >> ~/.zshrc source ~/.zshrc
Dependencies for building packages
Up to now you have installed what you need to run the core ROS packages. To create and manage your own ROS workspaces, there are various tools and requirements that are distributed separately. For example, rosinstall is a frequently used command-line tool that enables you to easily download many source trees for ROS packages with one command.
To install this tool and other dependencies for building ROS packages, run:
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential
Build farm status
The packages that you installed were built by the ROS build farm. You can check the status of individual packages here.
Tutorials
Now, to test your installation, please proceed to the ROS Tutorials.