在ubuntu 16.04安装ROS Kinetic

时间:2022-05-08 06:09:46

ubuntu16.04 已经发布一个月了,ROS的Kinetic也已经发布,需要了解ROS发行版及支持维护的时间等,

可以参考如下网页:http://wiki.ros.org/Distributions

在ubuntu 16.04安装ROS Kinetic+在ubuntu 16.04安装ROS Kinetic

ubuntu 16.04对中文支持很好,直接支持中文输入,使用体验不错。

安装镜像下载地址:http://www.ubuntu.com/download/desktop

下载后,使用U盘启动安装,安装后设置更新源等,并配置常用的应用。

在ubuntu 16.04安装ROS Kinetic

镜像选择:

在ubuntu 16.04安装ROS Kinetic

2. ROS kinetic安装与使用

参考的网址:http://wiki.ros.org/kinetic

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

2.1 设置安装源

ROS Kinetic只支持Wily(15.10)和Xenial(16.04)对应内核分别为4.2和4.4,使用下面命令:

 

 

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

 

在ubuntu 16.04安装ROS Kinetic

2.2 设置keys

~$ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.NET:80 --recv-key 0xB01FA116

Executing: /tmp/tmp.vZcRo5lOC8/gpg.1.sh --keyserver
hkp://ha.pool.sks-keyservers.Net:80
--recv-key
0xB01FA116

在ubuntu 16.04安装ROS Kinetic

2.3 安装

~$ sudo apt-get update

~$ sudo apt-get install ros-kinetic-desktop-full

安装功能包:

~$ sudo apt-get install ros-kinetic-PACKAGE

例如:

~$ sudo apt-get install ros-kinetic-slam-gmapping

查找在kinetic中可以使用的功能包:

~$ apt-cache search ros-kinetic

2.4 初始化

~$ sudo rosdep init

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

    rosdep update

~$ rosdep update

reading 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.yaml
Add distro "groovy"
Add distro "hydro"
Add distro "indigo"
Add distro "jade"
Add distro "kinetic"
updated cache in /home/relaybot/.ros/rosdep/sources.cache

2.5 环境配置

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

~$ source ~/.bashrc

注意当安装多个ROS发行版,使用kinetic需要用到下面命令:

~$ source /opt/ros/kinetic/setup.bash

2.6 安装rosinstall

~$ sudo apt-get install python-rosinstall

2.7 测试roscore

~$ roscore

在ubuntu 16.04安装ROS Kinetic

有兴趣也可以测试一下小海归的例子。

在ubuntu 16.04安装ROS Kinetic