- ROS系統的安裝
ROS系統的安裝方式有兩種，通過軟件源和源碼編譯安裝。軟件源安裝只需要通過簡單的命令，因此，我們使用軟件源來安裝ROS
- 配置系統軟件源
打開Ubuntu軟件中心的軟件源配置界面，勾選restricted,universe,multiverse三個選項
軟件源切換，安裝過程出現問題的，一般與網絡和軟件源有關系，可以切換成手機熱點試試 ，我改成阿里雲的源，我的系統是16.04
sudo su #輸入密碼 cd /etc/apt #切換到apt源文件 mv sources.list sources.list_bak #備份源文件 vim sources.list #新建一個，然后將下面的內容copy進去
# deb cdrom:[Ubuntu 16.04 LTS _Xenial Xerus_ - Release amd64 (20160420.1)]/ xenial main restricted deb-src http://archive.ubuntu.com/ubuntu xenial main restricted #Added by software-properties deb http://mirrors.aliyun.com/ubuntu/ xenial main restricted deb-src http://mirrors.aliyun.com/ubuntu/ xenial main restricted multiverse universe #Added by software-properties deb http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted deb-src http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted multiverse universe #Added by software-properties deb http://mirrors.aliyun.com/ubuntu/ xenial universe deb http://mirrors.aliyun.com/ubuntu/ xenial-updates universe deb http://mirrors.aliyun.com/ubuntu/ xenial multiverse deb http://mirrors.aliyun.com/ubuntu/ xenial-updates multiverse deb http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse deb-src http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse #Added by software-properties deb http://archive.canonical.com/ubuntu xenial partner deb-src http://archive.canonical.com/ubuntu xenial partner deb http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted deb-src http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted multiverse universe #Added by software-properties deb http://mirrors.aliyun.com/ubuntu/ xenial-security universe deb http://mirrors.aliyun.com/ubuntu/ xenial-security multiverse
sudo apt-get update
2.添加ROS軟件源
打開終端，輸入命令，國內的相對來說快一點
1 ROS官方軟件鏡像源 2 sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' 3 4 中山大學鏡像源 5 sudo sh -c '. /etc/lsb-release && echo "deb http://mirror.sysu.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
3.添加密鑰
1 sudo apt-key adv --keyserver hkp://pool.sks-keyservers.net --recv-key 0xB01FA116
4.安裝ROS
1 sudo apt-get update 2 sudo apt-get install ros-kinetic-desktop-full
ROS系統版本眾多，kinetic版本支持到2021年，Indigo版本支持到2019年，因此選擇kinetic桌面完整版，它包括了ROS的核心功能，以及機器人地圖建模，自主導航，rviz可視化工具，gazebo仿真環境，rqt工具箱等。
5.初始化rosdep
rosdep主要功能是為某些功能安裝系統依賴
1 sudo rosdep init 2 rosdep update
6.設置環境變量
1 echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc 2 source ~/.bashrc
使用下面兩條命令來查看環境變量是否設置好
1 export | grep ROS 2 env |grep ROS
7.安裝rosinstall
1 sudo apt-get install python-rosinstall
8.完成安裝
ROS安裝在/opt目錄下
1 運行roscore 2 roscore
9.設置工作空間
1 mkdir -p ~/catkin_ws/src 2 cd ~/catkin_ws/src 3 catkin_init_workspace 4 cd ~/catkin_ws/ 5 catkin_make 6 source devel/setup.bash
7 檢查所有環境變量,我們設置了兩個，他們之間用：隔開
8 echo $ROS_PACKAGE_PATH
- ROS系統的卸載
1 sudo apt-get remove ros-*
參考：胡春旭ROS機器人開發實踐