简单记录一下配置的过程
先换源,以阿里源为例
备份原有源 sudo cp /etc/apt/sources.list /etc/apt/sources_init.list 编辑源文件 sudo gedit /etc/apt/sources.list 将文件内容全部删除 替换成 deb http://mirrors.aliyun.com/ubuntu/ xenial main deb-src http://mirrors.aliyun.com/ubuntu/ xenial main deb http://mirrors.aliyun.com/ubuntu/ xenial-updates main deb-src http://mirrors.aliyun.com/ubuntu/ xenial-updates main deb http://mirrors.aliyun.com/ubuntu/ xenial universe deb-src http://mirrors.aliyun.com/ubuntu/ xenial universe deb http://mirrors.aliyun.com/ubuntu/ xenial-updates universe deb-src http://mirrors.aliyun.com/ubuntu/ xenial-updates universe deb http://mirrors.aliyun.com/ubuntu/ xenial-security main deb-src http://mirrors.aliyun.com/ubuntu/ xenial-security main deb http://mirrors.aliyun.com/ubuntu/ xenial-security universe deb-src http://mirrors.aliyun.com/ubuntu/ xenial-security universe
apt二连
sudo apt-get update sudo apt-get upgrade
设置“软件和更新”
sudo update-manager -c -d
如果要升级就升级,升级完后点左下角的设置就可以进到界面了,前四个勾选上,第五个可选
添加中科大ROS源
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
设置秘钥
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
更新软件源并安装ROS
sudo apt-get update sudo apt-get install ros-kinetic-desktop-full
初始化rosdep
sudo rosdep init rosdep update
设置环境变量(可选)
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc source ~/.bashrc
如果不设置则需要每次在包的路径下使用
source setup.bash
安装一些常用工具
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential
此时可以测试下例程了,方法见前篇ROSOnWindows,编译方法和Windows下相同,不再赘述
如果要编译,那么还会遇到非常多问题,主要是没有安装上对应的包,这点ROSOnWindows我觉得做的就好很多,这里列出常见的包,其他可以通过百度对应问题来解决
sudo aptitude install libsdl1.2-dev sudo apt-get install libbullet-dev sudo apt-get install libsdl-image1.2-dev sudo apt-get install libasound2-dev sudo apt-get install ros-kinetic-bfl sudo apt-get install ros-kinetic-arbotix sudo apt-get install ros-kinetic-gazebo-ros-control sudo apt-get install ros-kinetic-move-base-msgs
如果遇到了这个报错,那么是内存不足,提高虚拟机的内存即可,如果内存有上限,则开启虚拟内存
c++internalcompiler error:killed(program cc1plus)
感谢以下Geeks
Ubuntu install of ROS Kinetic http://wiki.ros.org/kinetic/Installation/Ubuntu
ROS学习过程中问题
https://blog.csdn.net/t972409256/article/details/82661633
ubuntu系统下ros系统问题的解决方法示例
https://blog.csdn.net/Groot_Lee/article/details/79202507