ubuntu20 安装ROS

官网

http://wiki.ros.org/noetic/Installation/Ubuntu

网友

https://blog.csdn.net/zghforever/article/details/107489482

安装

软件仓库配置

• 打开Software & Update
• 确保勾选restricted,universe 和 multiverse.

• 关闭后，会提示重新加载。

设置软件源

打开terminal终端，输入下方代码

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

设置密钥

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

如果使用代理服务器，可以使用curl替代apt-key命令，具体内容如下：

curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | sudo apt-key add -

　　成功后返回

gpg: key F42ED6FBABXXXXXX: public key "Open Robotics " imported
gpg: Total number processed: 1
gpg:               imported: 1

ROS安装

安装前，确保Debian包索引到最新

sudo apt-get update

下面就是选择安装多大的ROS包

• 桌面完整版(官方推荐):包含2D/3D仿真和感知包

sudo apt install ros-noetic-desktop-full

如果需要安装其他包文件，可以选择相应的包直接安装

sudo apt install ros-noetic-PACKAGE

环境配置

如果需要使用ROS，在每个bash终端中需更新ros的配置脚本，具体命令如下：

source /opt/ros/noetic/setup.bash

　　也可以设置每次打开终端时，自动更新ROS的配置脚本

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

编译包依赖

• 安装rosdep

如果未安装rosdep工具，输入下述命令：（不要）

$ sudo apt install python-rosdep

如果系统(ubuntu2020)默认只包含python3,相应命令修改如下：

sudo apt install python3-rosdep

• 依赖初始化

$ sudo rosdep init

　返回下述结果说明初始化成功　

Wrote /etc/ros/rosdep/sources.list.d/20-default.list
Recommended: please run

        rosdep update

• 更新依赖

$ rosdep update

　　返回下述结果说明更新成功

eading in sources list data from /etc/ros/rosdep/sources.list.d
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml
Skip end-of-life distro "ardent"
Skip end-of-life distro "bouncy"
Skip end-of-life distro "crystal"
Add distro "dashing"
Add distro "eloquent"
Add distro "foxy"
Skip end-of-life distro "groovy"
Skip end-of-life distro "hydro"
Skip end-of-life distro "indigo"
Skip end-of-life distro "jade"
Add distro "kinetic"
Skip end-of-life distro "lunar"
Add distro "melodic"
Add distro "noetic"
Add distro "rolling"
updated cache in /home/zgh/.ros/rosdep/sources.cache

验证

输入下述命令，验证ROS是否安装成功。

roscore