Ubuntu下安装ROS操作系统及相关软件
源
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
如果遇到lsb_release 问题则
手动添加源 (ubuntu18)
deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ bionic main
key
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt update
if ubuntu 20.x
sudo apt install ros-noetic-desktop-full
卸载：sudo apt-get remove ros-*
if ubuntu 18.x
sudo apt-get install ros-melodic-desktop-full
source /opt/ros/noetic/setup.bash
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt-get install ros-melodic-rqt*
如果提示“sudo: rosdep：找不到命令”，执行
sudo apt-get install python-rosdep
sudo rosdep init
rosdep update
if rosdep update error:
sudo apt-get update
sudo apt-get install python-rosinstall
source /opt/ros/melodic/setup.bash
- 测试
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws/
catkin_make
sudo apt install net-tools
gedit ~/.bashrc
Set ROS melodic
source /opt/ros/melodic/setup.bash
roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key
#至此 王八出现
# 安装 terminator
```python
sudo apt install terminator
安装 vscode
下载：https://code.visualstudio.com/docs?start=true
安装插件
mkdir -p demo01/src
cd demo01
catkin_make
code .
code.不能在root身份下执行
项目开启后会自动生成.vscode 假设你的插件安装正常，否则要重新安装
修改tasks.json
{
// 有关 tasks.json 格式的文档，请参见
// https://go.microsoft.com/fwlink/?LinkId=733558
"version": "2.0.0",
"tasks": [
{
"label": "catkin_make:debug", //代表提示的描述性信息
"type": "shell", //可以选择shell或者process,如果是shell代码是在shell里面运行一个命令，如果是process代表作为一个进程来运行
"command": "catkin_make",//这个是我们需要运行的命令
"args": [],//如果需要在命令后面加一些后缀，可以写在这里，比如-DCATKIN_WHITELIST_PACKAGES=“pac1;pac2”
"group": {"kind":"build","isDefault":true},
"presentation": {
"reveal": "always"//可选always或者silence，代表是否输出信息
},
"problemMatcher": "$msCompile"
}
]
}
之后ctrl+shift+B 就会默认执行这个
记得 chmod -R 777 demo01
src右键 Create catkin package
输入名称，再输入下面三个依赖
roscpp rospy std_msgs
package.xml就创建出来了
创建目录scripts
#! /usr/bin/env python
import rospy
if __name__ == "__main__":
rospy.init_node('he')
rospy.loginfo("fdafdas")
找不到lsb_release
sudo sh -c ‘echo “deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main” > /etc/apt/sources.list.d/ros-latest.list’
这句实际上 /etc/apt/sources.list.d/ros-latest.list 插入
deb http://packages.ros.org/ros/ubuntu bionic main