ubuntu版本:16.04
更改镜像源
打开终端,输入 sudo gedit /etc/apt/sources.list
将里面内容替换为:
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
打开系统设置->点击“软件和升级”->点击“其他软件”->点击左下角“添加”按钮
APT行里输入:deb http://ros.exbot.net/rospackage/ros/ubuntu/ xenial main
开始安装ros
1.设置Ubuntu的sources.list
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key
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 0xB01FA116
3.更新package
sudo apt-get update
sudo apt-get upgrade
建议在安装所有软件前都要执行这两个命令
4.安装aptitude
aptitude是一款十分强大的安装工具,比如安装程序时能分析出各种依赖问题,建议使用aptitude安装程序
sudo apt-get install aptitude
5.安装ROS kinetic完整版
sudo aptitude install ros-kinetic-desktop-full
6.初始化rosdep
在使用ros之前一定要进行初始化
sudo rosdep init
rosdep update
7.配置环境
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
8. 安装building package的依赖
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
9. 测试ROS是否安装成功
打开一个终端输入 roscore
再打开一个窗口,输入:
rosrun turtlesim turtlesim_node
出现一只小乌龟,再打开一个窗口,输入:
rosrun turtlesim turtle_teleop_key
在最后一个终端窗口,键盘方向键能控制小乌龟的移动,说明安装成功。
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参考:https://blog.csdn.net/sinat_39411798/article/details/80591605