ROS学习之一：ROS安装

0 说明

与Ubuntu 20.04对应的ROS 1版本为Noetic Ninjemys（注意与ROS 2相区别）

1 添加软件源

打开文件sources.list

sudo gedit /etc/apt/sources.list

在文件末尾插入阿里云及清华等国内镜像源

# aliyun
deb http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-proposed main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-proposed main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse

# tsinghua
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse
deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse
deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse

更新软件包

sudo apt update
sudo apt upgrade

2 安装ROS

设置软件源（此处使用清华软件源）

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'

设置密钥

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

安装

sudo apt update
sudo apt install ros-noetic-desktop-full

若报错，可尝试

sudo apt-get update
sudo apt-get install ros-noetic-desktop-full

设置环境变量

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

将软件源切换回官方源

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

3 测试

# 运行roscore
roscore

# 在新终端中运行
rosrun turtlesim turtlesim_node

# 在另一个新终端中运行
rosrun turtlesim turtle_teleop_key

 此时可通过键盘方向键控制🐢运动

4 另：使用Ubuntu官方源安装方法

• 添加软件源

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

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

• 安装

sudo apt update
sudo apt install ros-noetic-desktop-full

• 设置环境变量

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

将上述的source命令添加到.bashrc中，则每次打开终端无需运行上述source命令即可访问ROS相关命令。

5 创建ROS工作空间

 通过如下命令创建catkin工作空间：

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make

在通过mkdir建立的工作空间中，第一次运行catkin_make命令，会在src目录下创建一个CMakeLists.txt的链接，同时生成build和devel两个目录，而通过：

source devel/setup.bash

可以将当前工作空间设置在环境的最顶层。