ubuntu16.04 Ros-kinetic 安装流程

Ros-kinetic 安装

以下安装只需要复制粘贴到控制台,一条一条执行即可

1.将时间误差缩短到最小
sudo apt-get install -y chrony ntpdate
sudo ntpdate -q ntp.ubuntu.com

2.在ros-latest.list添加ROS版本库
sudo sh -c ‘echo “deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main”> /etc/apt/sources.list.d/ros-latest.list’

3.设置公钥(Key)
sudo apt-key adv –keyserver hkp://ha.pool.sks-keyservers.net:80 –recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

4.更新软件包索引
sudo apt-get update
sudo apt-get upgrade -y

5.安装ROS Kinetic Kame
sudo apt-get install ros-kinetic-desktop-full

6.安装所有额外的rqt相关的功能包
(sudo apt-get install ros-kinetic-rqt*)

7.初始化rosdep
(在使用ROS之前，必须初始化rosdep。rosdep是一个通过在使用或编译ros的核心组件时轻松安装依赖包来增强用户便利的功能)
sudo rosdep init
rosdep update

8.安装rosinstall
sudo apt-get install python-rosinstall

9.安装我们程序运行需要的服务
sudo apt-get install ros-kinetic-serial
sudo apt-get -y install ros-kinetic-slam-gmapping
sudo apt-get -y install ros-kinetic-map-server
sudo apt-get -y install ros-kinetic-amcl)

10.加载环境设置文件
source /opt/ros/kinetic/setup.bash

11.测试安装结果
roscore

(install ros-kinetic end)以上Ros-kinetic安装成功

12.创建并初始化工作目录
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace

13.加载与catkin构建系统相关的环境文件
source ~/catkin_ws/devel/setup.bash

配置环境变量:

sudo gedit ~/.bashrc
在文件最后加上:(复制以下,并修改相应的IP为你的Ros运行的IP)
#set ros kinetic
source /opt/ros/kinetic/setup.bash
source ~/catkin_ws/devel/setup.bash
#set ros network
export ROS_HOSTNAME=192.16.100.1(这里是你的电脑的IP,你的ros运行的主机的IP)
export ROS_MASTER_URI=http://${ROS_HOSTNAME}:11311
export HOME_DIR=~/catkin_ws
export ROS_PACKAGE_PATH=~/catkin_ws:~/catkin_ws/src:/opt/ros/kinetic/share
#set Ros alias command
alias cw=’cd ~/catkin_ws’
alias cs=’cd ~/catkin_ws/src’
alias cm=’cd ~/catkin_ws&&catkin_make’

下面有一个写好的一键安装Ros-kinetic的脚本:
https://download.csdn.net/download/hhg337372083/10664897

有需要的可以下载,方便实用,感谢~