1.安装Ubuntu 14.04

2.安装ROS Indigo版本

安装可能以下出现的问题

错误信息：Unpacking ros-indigo-desktop-full (1.1.6-0trusty-20181006-135515-0800) ...
Errors were encountered while processing:
 /var/cache/apt/archives/python-rosdistro-modules_0.7.0-1_all.deb
 /var/cache/apt/archives/python-rosdistro_0.7.0-100_all.deb

先卸载ROS再更新dpkg后再重新安装（建议先更新dpkg再进行安装）

sudo apt-get remove ros-indigo-desktop-full
sudo apt-get remove ros-*
sudo apt-get install dpkg

3.下载 Apollo platform并解压

https://github.com/ApolloAuto/apollo-platform/releases

4.覆盖已安装的ROS目录

cp -rf indigo/ /opt/ros/

5.安装 protobuf

pip install protobuf

6. 更新 catkin_pkg

到https://pypi.org/project/catkin_pkg/#files下载

解压进入该目录执行编译安装的命令

python setup.py build

sudo python setup.py install

7.测试

创建talker.cpp

#include "ros/ros.h"
#include "std_msgs/String.h"

#include <sstream>

int main(int argc, char **argv)
{

  ros::init(argc, argv, "talker");
  ros::NodeHandle n;
  ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
  ros::Rate loop_rate(10);
  int count = 0;
  while (ros::ok())
  {
    std_msgs::String msg;

    std::stringstream ss;
    ss << "hello world " << count;
    msg.data = ss.str();
    ROS_INFO("%s", msg.data.c_str());
    chatter_pub.publish(msg);
    loop_rate.sleep();
    ++count;
  }
  return 0;
}

创建listener.cpp

#include "ros/ros.h"
#include "std_msgs/String.h"

void chatterCallback(const std_msgs::String::ConstPtr& msg)
{
  ROS_INFO("I heard: [%s]", msg->data.c_str());
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "listener");
  ros::NodeHandle n;
  ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);
  ros::spin();
  return 0;
}

cmake.txt添加可执行节点

include_directories(${catkin_INCLUDE_DIRS})
add_executable(talker talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})

include_directories(${catkin_INCLUDE_DIRS})
add_executable(listener listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})

在工作空间环境下进行的进行编译

catkin_make

在终端下运行

source /opt/ros/indigo/setup.bash 
rosrun roscpp_tutorials talker

打开另一个终端

source /opt/ros/indigo/setup.bash 
rosrun roscpp_tutorials listener

可以看到master节点并未启动，但talker和listener之间依然进行了通讯，因主节点没启动所以rqt_graph也未运行起来（想运行起来则需要roscore）。

Apollo ROS安装教程