ros 安装

前置条件

• ubunt 20.04
• 设置国内镜像源（系统设置->关于->软件更新->下载自：选择阿里云的）
  1.设置sources.list
  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'
  2.设置密钥、
  sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
  3.开始安装
  sudo apt update
sudo apt install ros-noetic-desktop-full
  4.设置环境
  echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
  5.安装catkin
  sudo apt-get install cmake python-catkin-pkg python-empy python-nose python-setuptools libgtest-dev build-essential
sudo apt-get install ros-hydro-catkin