操作系统:Ubuntu20.04
ROS版本:ROS noetic
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt update
sudo apt install ros-noetic-desktop-full
先执行以下命令,不然初始化会报错:
sudo apt install python3-rosdep
初始化:
sudo rosdep init
rosdep update
出现以下报错:
ERROR:error loading sources list:
('The read operation timed out',)
尝试解决(没有成功):
访问网址不通造成的,添加https://ghproxy.com/资源代理网站加速rosdep对github raw的访问。但是出现以下报错:
ERROR:unable to process source[https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml]
查找原因后,发现https://ghproxy.com/已经不管用
最终解决:
sudo pip install rosdepc
sudo rosdepc init
rosdepc update
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential
出现以下报错:
E:Package 'python-rosinstall' has no installation candidate
E:Package 'python-rosinstall-generator' has no installation candidate
E:Package 'python-wstool' has no installation candidate
解决: 现在支持的是python3版本,所以把每个python改为python3
sudo apt install python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
$ rosversion -d
noetic //输出ROS的版本
$ roscore //启动ROS MASTER
$ rosrun turtlesim turtlesim_node //启动小海龟仿真器
$ rosrun turtlesim turtle_teleop_key //启动小海龟控制节点
修改文件权限:
sudo chmod 777 xxx //777:每个人可读可写可执行,xxx:需要修改权限的文件名
参考链接:
http://t.csdnimg.cn/gYU91
http://t.csdnimg.cn/TWSIn
http://t.csdnimg.cn/brWCe