ROS安裝與卸載教程

一 ros安裝

1.0 設備環境：Ubuntu 14.04 ros indigo

1.1 配置Ubuntu倉庫變為允許"restricted," "universe," and "multiverse

1.2 

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

這里需要注意的問題是，有些時候由於防火牆原因，有些時候需要點擊Mirrors換一個指令，否則可能安裝不了哦

1.3

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

sudo apt-get update

sudo apt-get install ros-indigo-desktop-full

sudo rosdep init

rosdep update
echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
source ~/.bashrc

1.4 這時會看到ROS的環境變量

$ printenv |grep ROS

ROS_ROOT=/opt/ros/indigo/share/ros
ROS_PACKAGE_PATH=/opt/ros/indigo/share:/opt/ros/indigo/stacks
ROS_MASTER_URI=http://localhost:11311
ROSLISP_PACKAGE_DIRECTORIES=
ROS_DISTRO=indigo
ROS_ETC_DIR=/opt/ros/indigo/etc/ros

二 ros卸載

sudo apt-get purge ros-*
sudo rm -rf /etc/ros
刪除.bashrc中的source /opt/ros/indigo/setup.bash
如果有自己建立的catkin_ws，也刪除

三 ros源碼安裝

卸載之后，我們可以源碼安裝

sudo apt-get install python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential
sudo rosdep init
rosdep update
mkdir ~/ros_catkin_ws
cd ~/ros_catkin_ws
rosinstall_generator desktop_full --rosdistro indigo --deps --wet-only --tar > indigo-desktop-full-wet.rosinstall
wstool init -j8 src indigo-desktop-full-wet.rosinstall
rosdep install --from-paths src --ignore-src --rosdistro indigo -y
./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
source ~/ros_catkin_ws/install_isolated/setup.bash

如果下載新的包，可以采用建立自己的工作空間的方式

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws/
catkin_make
source ~/catkin_ws/devel/setup.bash

參考文獻：

1 http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment

2 http://wiki.ros.org/indigo/Installation

3 http://wiki.ros.org/indigo/Installation/Source