3.也可以在autolabor官网下载他们做好的ros开源镜像
ROS软件包下载 - Autolabor开源ROS机器人底盘 - 官方网站
安装ubuntu:参考我的博客 联想拯救者Legion Y7000P 2020款(10代INTEL+GTX1650)安装ubuntu16.04(双系统)_苏凯的博客-CSDN博客
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
如果以上服务器在连接过程中存在问题,可以用以下两个备选地址:
hkp://pgp.mit.edu:80
hkp://keyserver.ubuntu.com:80
sudo apt-get update
sudo apt-get install ros-kinetic-desktop-full
sudo rosdep init
rosdep update
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential
E: Failed to fetch http://45.252.224.77/files/2116000007703A52/packages.ros.org/ros/ubuntu/dists/xenial/main/binary-amd64/Packages.gz
E: Failed to fetch http://45.252.224.79/files/111600000609586B/mirrors.ustc.edu.cn/ros/ubuntu/dists/xenial/main/binary-i386/Packages.gz Hash Sum mismatch
E: Some index files failed to download. They have been ignored, or old ones used instead.
通常在安装过程中会出现 Hash Sum mismatch,这个时候,建议修改Ubuntu操作系统的软件源为http://mirrors.ustc.edu.cn。保证ros的源和ubuntu的源一致,规避掉hash校验的错误。
通过命令启动Ros Master
roscore
启动命令后,会有以下日志打印
... logging to /home/itheima/.ros/log/970b7818-77d3-11e9-a2e4-000c2948d957/roslaunch-ubuntu-9693.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:44075/
ros_comm version 1.12.14
SUMMARY
========
PARAMETERS
* /rosdistro: kinetic
* /rosversion: 1.12.14
NODES
auto-starting new master
process[master]: started with pid [9708]
ROS_MASTER_URI=http://ubuntu:11311/
setting /run_id to 970b7818-77d3-11e9-a2e4-000c2948d957
process[rosout-1]: started with pid [9725]
started core service [/rosout]
3.安装其它依赖及软件
更新命令
sudo apt-get update
sudo apt-get upgrade
sudo apt-get dist-upgrade
sudo apt-get -f install
ros中添加qt 增加Qt5SerialPor库
sudo apt-get install ros-$ROS_DISTRO-qt-create
sudo apt-get install ros-$ROS_DISTRO-qt-build
sudo apt install libqt5serialport5-dev
sudo apt-get install libqt5multimedia5-plugins
sudo apt-get install sqlitebrowser
sudo apt-get install ros-$ROS_DISTRO-navigation
sudo apt-get install ros-$ROS_DISTRO-serial
sudo apt-get install ros-$ROS_DISTRO-libuvc
sudo apt-get install ros-$ROS_DISTRO-tf2-sensor-msgs
sudo apt-get install ros-$ROS_DISTRO-control-toolbox
sudo apt-get install ros-$ROS_DISTRO-ecl-threads
sudo apt install pcl-tools
sudo apt-get install -y patchelf
sudo apt-get install libxcb-xinerama0
sudo apt install aria2
sudo apt install net-tools
ubuntu控制台 终端
terminator安装
sudo apt-get install terminator
图像转svg
sudo apt install potrace
sudo apt-get install rar
sudo apt install gimp
u盘
sudo apt-get install exfat-fuse
安装:apt-get install p7zip-full
解压7z:使用方法:7z x file file是你要解压的文件名。
解压tar.bz2: sudo tar -jxvf file.tar.bz2。
解压tar: sudo tar -zxvf file.tar。
.bashrc
source /opt/ros/kinetic/setup.bash
export TURTLEBOT3_MODEL=waffle
export CAMERA_TYPE=astrapro
#export CAMERA_TYPE=astrapro
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/3rdparty/ORB_SLAM2/Examples/ROS
alias sd='source devel/setup.sh'
## 编译ros项目时要注释掉 /home/iimt/.bashrc 以下3条;打包项目时需要打开注释
#export PATH=/home/iimt/3rdparty/qt/bin:$PATH
#export LIB_PATH=/home/iimt/3rdparty/qt/lib:$LIB_PATH
#export PLUGIN_PATH=/home/iimt/3rdparty/qt/plugins:$PLUGIN_PATH
##export QML2_PATH=/home/maoypeng/Applications/Qt5.1.1/5.1.1/gcc/qml:$QML2_PATH
export ROS_HOSTNAME=127.0.0.1
export ROS_MASTER_URI=http://127.0.0.1:11311
# linuxdeployqt打包,编译问题
#export LD_LIBRARY_PATH=/home/iimt/Qt5.9.9/5.9.9/gcc_64/lib
安装qtcreate
在Ubuntu下搭建Qt开发环境和Qt creator_花花的博客-CSDN博客
ROS与C++入门教程-搭建开发环境(QT+ros_qtc_plugin) - 创客智造
Index of /
下载qt : Index of /archive/qt/5.9/5.9.9
cd /usr/lib/x86_64-linux-gnu/qt-default/qtchooser
sudo gedit default.conf
sudo gedit /usr/lib/x86_64-linux-gnu/qt-default/qtchooser/default.conf
sudo gedit /usr/lib/x86_64-linux-gnu/qt-default/qtchooser/default.conf
/home/iimt/Qt5.12.11/5.12.11/gcc_64/bin
/home/iimt/Qt5.12.11/5.12.11/
/home/iimt/Qt5.9.9/5.9.9/gcc_64/bin
/home/iimt/Qt5.9.9/5.9.9/
/home/iimt/3rdparty/qt/bin
/home/iimt/3rdparty/qt/
安装ros_qtc_plugin插件
Ubuntu18安装 ros-qtc-plugin并在qt中配置ros环境_mhrobot的博客-CSDN博客
How to Install (Users) — ROS Qt Creator Plug-in documentation
sudo add-apt-repository ppa:levi-armstrong/qt-libraries-trusty
sudo add-apt-repository ppa:levi-armstrong/ppa
sudo apt-get update && sudo apt-get install qt57creator-plugin-ros
sudo gedit /usr/bin/qtcreator
#!/bin/sh
export QT_HOME=/home/iimt/Qt5.9.9/Tools/QtCreator/bin
$QT_HOME/qtcreator $*
sudo chmod 777 /usr/bin/qtcreator
启动 : qtcreator
设置快捷方式
gedit ~/.local/share/applications/DigiaQtOpenSource-qtcreator.desktop
[Desktop Entry]
Type=Application
Exec=bash -i -c /home/iimt/Qt5.9.9/Tools/QtCreator/bin/qtcreator
Name=Qt Creator (Community)
GenericName=The IDE of choice for Qt development.
Icon=QtProject-qtcreator
Terminal=false
Categories=Development;IDE;Qt;
MimeType=text/x-c++src;text/x-c++hdr;text/x-xsrc;application/x-designer;application/vnd.qt.qmakeprofile;application/vnd.qt.xml.resource;text/x-qml;text/x-qt.qml;text/x-qt.qbs;
KylinV10上qt5.9开发应用打包步骤(四)--linuxdeployqt源码编译_WenCoo的博客-CSDN博客
export LD_LIBRARY_PATH=/home/iimt/Qt5.9.9/5.9.9/gcc_64/lib
安装opengl
sudo apt-get update
sudo apt-get -f install
安装opengl
sudo apt install mesa-common-dev
安装opengl
sudo apt-get install libgl1-mesa-dev
安装opengl
sudo apt-get install mesa-common-dev
sudo apt-get install libgl1-mesa-dev libglu1-mesa-dev
sudo apt install cmake
永久指定安装源
每次临时指定源地址比较麻烦,可以通过以下方式配置永久源
在主目录创建.pip文件夹
mkdir ~/.pip
编写~/.pip/pip.conf
已复制
sudo gedit ~/.pip/pip.conf
并添加以下内容
[global]
trusted-host=pypi.douban.com
index-url=https://mirrors.aliyun.com/pypi/simple/
timeout=6000
此时,默认pip install xxx已经可以自动走镜像地址, 但是sudo模式下的pip和pip3并不能使用此镜像。所以要把这个pip.conf复制到/root/.pip目录下
sudo mkdir -p /root/.pip
sudo cp ~/.pip/pip.conf /root/.pip/
可用的源有:
清华大学:https://pypi.tuna.tsinghua.edu.cn/simple
阿里云:http://mirrors.aliyun.com/pypi/simple/
中国科技大学 https://pypi.mirrors.ustc.edu.cn/simple/
华中理工大学:http://pypi.hustunique.com/
山东理工大学:http://pypi.sdutlinux.org/
豆瓣:https://pypi.douban.com/simple/
https://blog.csdn.net/weixin_38815609/article/details/102854144
查看内核版本号的方法是:
打印一个终端,输入命令uname -r
dpkg --get-selections | grep linux-image查看内核安装情况
并使用sudo apt-get purge linux-image-4.15.0-62-generic等命令卸载版本比较老的内核,保留1-2个内核即可 。
内核下载地址
Index of /~kernel-ppa/mainline
64位的下载:1,2,3,4,6
以下 【必须安装的四个软件包】不出问题就不要安装
ubuntu16.04 内核升级必须安装的四个软件包
ubuntu16.04 内核升级必须安装的四个软件包_文影惊涛的技术博客_51CTO博客
sudo aptitude install libncurses5-dev libssl-dev
sudo aptitude install build-essential openssl
sudo aptitude install zlibc minizip
sudo aptitude install libidn11-dev libidn11
查看当前gcc版本 gcc -v
安装 gcc g++
sudo apt install build-essential
没有特殊情况不要安装 grub
sudo apt-get install grub
sudo apt-get --reinstall install grub-pc
解决systemback 无法生成超过4G的iso的问题_君子性非异-CSDN博客 制作镜像
1.解压.sblive文件
cd /home
sudo mkdir sblive
tar -xf /home/systemback_live_2016-04-27.sblive -C sblive
sudo tar -xf systemback_live_2021-07-24.sblive -C sblive/
sudo mv sblive/syslinux/syslinux.cfg sblive/syslinux/isolinux.cfg
sudo mv sblive/syslinux sblive/isolinux
安装cdtools
aria2c -s 10 https://nchc.dl.sourceforge.net/project/cdrtools/alpha/cdrtools-3.02a07.tar.gz
(此步骤可能下载失败,解决办法是直接浏览器打开此链接下载https://nchc.dl.sourceforge.net/project/cdrtools/alpha/cdrtools-3.02a07.tar.gz,再拷贝至Ubuntu即可)
tar -xzvf cdrtools-3.02a07.tar.gz
cd cdrtools-3.02
make
make install
生成 ISO 文件
回到sblive所在目录:
sudo /opt/schily/bin/mkisofs -iso-level 3 -r -V sblive -cache-inodes -J -l -b isolinux/isolinux.bin -no-emul-boot -boot-load-size 4 -boot-info-table -c isolinux/boot.cat -o sblive.iso sblive