ubuntu20 安装ROS - MKT-porter

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ubuntu20 安装ROS

官网

http://wiki.ros.org/noetic/Installation/Ubuntu

网友

https://blog.csdn.net/zghforever/article/details/107489482

安装

软件仓库配置

打开Software & Update
确保勾选restricted,universe 和 multiverse.

关闭后，会提示重新加载。

设置软件源

打开terminal终端，输入下方代码

1	`sudo sh -c` `'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'`

设置密钥

1	`sudo apt-key adv --keyserver` `'hkp://keyserver.ubuntu.com:80'` `--recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654`

如果使用代理服务器，可以使用curl替代apt-key命令，具体内容如下：

1	`curl -sSL` `'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654'` `\| sudo apt-key add -`

　　成功后返回

gpg: key F42ED6FBABXXXXXX: public key "Open Robotics <info@osrfoundation.org>" imported
gpg: Total number processed: 1
gpg:               imported: 1

ROS安装

安装前，确保Debian包索引到最新

1	`sudo apt-get` `update`

下面就是选择安装多大的ROS包

桌面完整版(官方推荐):包含2D/3D仿真和感知包

1	`sudo apt install ros-noetic-desktop-full`

如果需要安装其他包文件，可以选择相应的包直接安装

1	`sudo apt install ros-noetic-PACKAGE`

如果出现因为版本库依赖问题无法安装

step2. 在终端输入如下指令，安装桌面完整版Ros。使用aptitude进行安装，比apt的好处在于，可以帮助解决一些软件的依赖问题，如果无法解决，也会给出很好的建议，由我们进行选择和处理。

1 2	`安装方法：sudo apt-get` `install aptitude。` `sudo aptitude install ros-noetic-desktop-full`

第一次的建议选择n 不同意默认方案，然后给出解决方案降级libgpgme11 自己的电脑也可能是其他情况，多测试几个

第二次选择y 统一换的安装方案

说要装1g左右那肯定靠谱

装完后验证

环境配置

首先 ctrl+h 顯示隱藏文件去除aconda的默認環境

修改權限

1	`sudo chmod -R 777 .bashrc`

　　注销aconda避免干扰后续安装(如果已经装了的前提下)

如果需要使用ROS，在每个bash终端中需更新ros的配置脚本，具体命令如下：

1	`source /opt/ros/noetic/setup.bash`

　　也可以设置每次打开终端时，自动更新ROS的配置脚本

1 2	`echo` `"source /opt/ros/noetic/setup.bash"` `>> ~/.bashrc` `source ~/.bashrc`

构建包的依赖关系

1	`sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential`

编译包依赖

安装rosdep

如果未安装rosdep工具，输入下述命令：

如果系统(ubuntu2020)默认只包含python3,相应命令修改如下：

1	`sudo apt install python3-rosdep`

依赖初始化

1	`$ sudo rosdep init`

　返回下述结果说明初始化成功　

Wrote /etc/ros/rosdep/sources.list.d/20-default.list
Recommended: please run
 
        rosdep update

　　其实自动下载了这个文件

# os-specific listings first
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx
 
# generic
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
gbpdistro https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml fuerte
 
# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead

更新依赖

1	`$ rosdep update`

　　返回下述结果说明更新成功

eading in sources list data from /etc/ros/rosdep/sources.list.d
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml
Skip end-of-life distro "ardent"
Skip end-of-life distro "bouncy"
Skip end-of-life distro "crystal"
Add distro "dashing"
Add distro "eloquent"
Add distro "foxy"
Skip end-of-life distro "groovy"
Skip end-of-life distro "hydro"
Skip end-of-life distro "indigo"
Skip end-of-life distro "jade"
Add distro "kinetic"
Skip end-of-life distro "lunar"
Add distro "melodic"
Add distro "noetic"
Add distro "rolling"
updated cache in /home/zgh/.ros/rosdep/sources.cache