Installing ROS¶
Your configuration must be either one from the following:
- System: Ubuntu 16.04
- or
- System: Ubuntu 18.04
If you are using Ubuntu 16.04, you must install ROS Kinetic
如果你的系统版本是Ubuntu 16.04, 一定要安装ROS Kinetic
If you are using Ubuntu 18.04, you must install ROS Melodic
如果你的系统版本是Ubuntu 18.04, 一定要安装ROS Melodic
In this document, we are using Ubuntu 18.04 + ROS Melodic, but if you are using Ubuntu 16.04, please change all the Melodic into Kinetic
在这个文档中，我们使用的是Ubuntu 18.04 + ROS Melodic的配置,如果你使用的是Ubuntu 16.04也没有关系, 只需要将代码中的Melodic名称改为Kinetic即可使用
Setup sources.list¶
以下两端代码只需要运行 其中一段 ，推荐运行第一段
The Tsinghua University Mirror Source (Recommended):
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
or you can use the default source:
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
Setup your keys¶
Run the following code:
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
可能运行时间过长，可以耐心等待
如果报错，可以等一段时间再运行
Install ROS¶
请在下面两端代码中，根据你的操作系统，仅选择一段运行
- Ubuntu 18.04:
sudo apt-get install ros-melodic-desktop-full
- Ubuntu 16.04:
sudo apt-get install ros-kinetic-desktop-full
Initialize Rosdep¶
Before you can use ROS, you will need to initialize rosdep.
sudo rosdep init
rosdep update
Environment Setup¶
- Ubuntu 18.04:
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc source ~/.bashrc
- Ubuntu 16.04:
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc source ~/.bashrc
Install More Dependencies¶
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential