Ubuntu 20.04 安装ROS Noetic

ros noetic将是ros1的最后一个版本

Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse." 

1、设置软件源

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'

2、添加秘钥

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

3、更新源列表并安装

sudo apt update

sudo apt install ros-noetic-desktop-full

4、设置环境变量

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

source ~/.bashrc

 　　注：ROS节点权限问题，运行某些节点需要管理员权限（涉及硬件）,则也要在root用户中设置环境变量

　　 1、切换root 用户，添加环境变量

sudo su

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

source ~/.bashrc

5、构建包的依赖项

初始ros noetic版本发布时，没有这一命令，后来补上了

sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
sudo rosdep init
rosdep update

6、运行roscore