14.04软件源:https://mirrors.ustc.edu.cn/ubuntu-releases/14.04/;官方地址:http://releases.ubuntu.com/14.04/
官方安装教程:http://wiki.ros.org/indigo/Installation/Ubuntu
1.添加软件源,设置密钥:
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
2.安装:
sudo apt-get update
sudo apt-get install ros-indigo-desktop-full
3.初始化:
sudo rosdep init
rosdep update
4.设置环境变量:
echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
source ~/.bashrc
查看环境变量:$ export | grep ROS ; 将 source /opt/ros/indigo/setup.bash添加进
6.安装工具包(允许我们很容易地安装ros包)。
sudo apt-get install python-rosinstall
7.验证是否安装成功:
roscore # 启动rosmaster
rosrun turtlesim turtlesim_node # 启动小海龟节点
rosrun turtlesim turtle_teleop_key #启动键盘控制节点