ROS学习笔记 01 ROS安装与环境配置
前言
系统环境: Ubuntu 18.04，硬盘安装。
ROS版本: melodic
深蓝学院（古月居）胡春旭ROS理论与实践笔记整理。
1. 添加源
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
2. 添加密钥
sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
3. 安装
sudo apt-get update
sudo apt-get install ros-melodic-desktop-full
sudo apt-get install ros-melodic-rqt*
4. 初始化rosdep
sudo rosdep init
rosdep update
问题一：
执行sudo rosdep init时，产生错误：
ERROR: cannot download default sources list from:
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
Website may be down.
解决方法：
通过修改host解决。
- 修改host：
cd /etc
sudo gedit hosts
- 在文末添加:
151.101.84.133 raw.githubusercontent.com
问题二：
执行rosdep update时，产生错误timeout：
reading in sources list data from /etc/ros/rosdep/sources.list.d
ERROR: error loading sources list:
('The read operation timed out')
解决方法:
ROS安装过程中如何解决 rosdep update 命令出现错误
5. 设置环境变量
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
6. 安装rosinstall
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
7. 加载环境设置文件
source /opt/ros/melodic/setup.bash
8. 创建并初始化工作目录
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws/
catkin_make
9. 更新环境变量
sudo apt install net-tools
gedit ~/.bashrc
# Set ROS melodic
source /opt/ros/melodic/setup.bash
source ~/catkin_ws/devel/setup.bash
# Set ROS Network
#ifconfig查看ip
export ROS_HOSTNAME=192.168.xx.xx
export ROS_MASTER_URI=http://${ROS_HOSTNAME}:11311
# Set ROS alias command 快捷指令
alias cw='cd ~/catkin_ws'
alias cs='cd ~/catkin_ws/src'
alias cm='cd ~/catkin_ws && catkin_make'
10. 小海龟测试
roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key
注意光标要放在第三个终端上，小海龟才会移动。
