ubuntu16.04安装ROS

时间:2019-01-01
本文章向大家介绍ubuntu16.04安装ROS,主要包括ubuntu16.04安装ROS使用实例、应用技巧、基本知识点总结和需要注意事项,具有一定的参考价值,需要的朋友可以参考一下。

注意:ROS Kinetic ONLY supports Wily (Ubuntu 15.10), Xenial (Ubuntu 16.04) and Jessie (Debian 8) for debian packages.

1、Configure your Ubuntu repositories

Configure your Ubuntu repositories to allow “restricted,” “universe,” and “multiverse.” You can follow the Ubuntu guide for instructions on doing this.

2、Setup your sources.list

Setup your computer to accept software from packages.ros.org.
sudo sh -c ‘echo “deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main” > /etc/apt/sources.list.d/ros-latest.list’

3、Set up your keys

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
If you experience issues connecting to the keyserver, you can try substituting hkp://pgp.mit.edu:80 or hkp://keyserver.ubuntu.com:80 in the previous command.

4、make sure your Debian package index is up-to-date:

sudo apt-get update

5、Desktop-Full Install: (Recommended) : ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception

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

6、Initialize rosdep

Before you can use ROS, you will need to initialize rosdep. rosdep enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS.
sudo rosdep init
rosdep update

在以上步骤中出现错误时,请重新执行该命令,直至该命令执行正常为止;

7、Environment setup

It’s convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched:
echo “source /opt/ros/kinetic/setup.bash” >> ~/.bashrc
source ~/.bashrc

8、To install this tool and other dependencies for building ROS packages, run:

sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential

9、检验

roscore