Ubuntu 20.04 安裝ROS Noetic

ros noetic將是ros1的最后一個版本

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

1、設置軟件源

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、添加秘鑰

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

3、更新源列表並安裝

sudo apt update

sudo apt install ros-noetic-desktop-full

4、設置環境變量

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

source ~/.bashrc

 　　注：ROS節點權限問題，運行某些節點需要管理員權限（涉及硬件）,則也要在root用戶中設置環境變量

　　 1、切換root 用戶，添加環境變量

sudo su

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

source ~/.bashrc

5、構建包的依賴項

初始ros noetic版本發布時，沒有這一命令，后來補上了

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

6、運行roscore