专业行业网站开发报价,四川住房和城乡建设部网站首页,陈金凌 wordpress,wordpress外贸网站好用的模板下载一、参考资料
在Ubuntu中安装ROS Kinetic ROS安装ubuntu16.04 无需科学上网解决sudo rosdep init初始化问题
二、安装ROS关键步骤
1. 选择ROS版本
ROS安装选择
Ubuntu版本不同#xff0c;对应安装的ROS版本也不同#xff0c;务必版本对齐。 本文以Ubuntu16.04LTS系统为例…一、参考资料
在Ubuntu中安装ROS Kinetic ROS安装ubuntu16.04 无需科学上网解决sudo rosdep init初始化问题
二、安装ROS关键步骤
1. 选择ROS版本
ROS安装选择
Ubuntu版本不同对应安装的ROS版本也不同务必版本对齐。 本文以Ubuntu16.04LTS系统为例安装ROS Kinetic版本。
ROS版本Ubuntu版本ROS KineticUbuntu16.04LTSROS MelodicUbuntu18.04LTSROS NoeticUbuntu20.04LTS 2. 配置Ubuntu软件仓库
配置Ubuntu软件仓库repositories勾选“restricted”“universe”和“multiverse”。 3. 设置 sources.list
# 设置安装源
sudo sh -c . /etc/lsb-release echo deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ lsb_release -cs main /etc/apt/sources.list.d/ros-latest.list4. 设置密钥
# 设置key密钥
sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C6545. 安装ROS
# 更新源
sudo apt update# 安装ROS
sudo apt-get install ros-kinetic-desktop-full6. 初始化 rosdep
在开始使用ROS之前需要初始化rosdep。rosdep可以在编译某些源码的时为其安装一些系统依赖同时也是某些ROS核心功能组件所必需用到的工具。
# 初始化 rosdep
sudo rosdep init
rosdep update(demo) yoyoyoyo:/usr/lib/python2.7/dist-packages/rosdistro$ sudo rosdep init
Wrote /etc/ros/rosdep/sources.list.d/20-default.list
Recommended: please runrosdep update(demo) yoyoyoyo:/usr/lib/python2.7/dist-packages/rosdistro$ 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 file:///home/yoyo/Downloads/rosdistro/index-v4.yaml
Skip end-of-life distro ardent
Skip end-of-life distro bouncy
Skip end-of-life distro crystal
Skip end-of-life distro dashing
Skip end-of-life distro eloquent
Skip end-of-life distro foxy
Skip end-of-life distro galactic
Skip end-of-life distro groovy
Add distro humble
Skip end-of-life distro hydro
Skip end-of-life distro indigo
Add distro iron
Skip end-of-life distro jade
Skip end-of-life distro kinetic
Skip end-of-life distro lunar
Skip end-of-life distro melodic
Add distro noetic
Add distro rolling
updated cache in /home/yoyo/.ros/rosdep/sources.cache7. 配置环境变量
# 配置环境变量
echo source /opt/ros/kinetic/setup.bash ~/.bashrc
source ~/.bashrc三、测试ROS turtlesim小海龟样例
如何在 Ubuntu 18.04.1 LTS 上安装 ROS Melodic 的详细过程
在ROS中运行小海龟执行步骤如下
1. 启动roscore
# 打开新终端启动roscore
roscoreyoyoyoyo:/usr/lib/python2.7/dist-packages/rosdistro$ roscore
... logging to /home/yoyo/.ros/log/d3752a5e-2ac3-11ee-9ef5-18c04d9e91e3/roslaunch-yoyo-32650.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is 1GB.started roslaunch server http://yoyo:36853/
ros_comm version 1.12.17SUMMARY
PARAMETERS* /rosdistro: kinetic* /rosversion: 1.12.17NODESauto-starting new master
process[master]: started with pid [32661]
ROS_MASTER_URIhttp://yoyo:11311/setting /run_id to d3752a5e-2ac3-11ee-9ef5-18c04d9e91e3
process[rosout-1]: started with pid [32674]
started core service [/rosout]2. 启动小海龟节点
# 打开新终端启动小海龟节点
rosrun turtlesim turtlesim_node(demo) yoyoyoyo:~$ rosrun turtlesim turtlesim_node
[ INFO] [1690273390.857742853]: Starting turtlesim with node name /turtlesim
[ INFO] [1690273390.860713835]: Spawning turtle [turtle1] at x[5.544445], y[5.544445], theta[0.000000]3. 启动小海龟运动控制节点
# 打开新终端启动小海龟运动控制节点
rosrun turtlesim turtle_teleop_keyyoyoyoyo:~$ rosrun turtlesim turtle_teleop_key
Reading from keyboard
---------------------------
Use arrow keys to move the turtle.4. 解析说明
rosrun在ROS包中运行节点turtlesim这是ROS中一个用于演示机器人控制的软件包turtlesim_node这是turtlesim软件包中的一个节点用于在屏幕上绘制小海龟turtle_teleop_key这是turtlesim软件包中另一个节点它可以通过键盘上的方向键来控制小海龟的运动。
执行 rosrun turtlesim turtlesim_node 时计算机会启动一个节点用于在屏幕上绘制小海龟。当执行 rosrun turtlesim turtle_teleop_key 时计算机会启动另一个节点该节点将通过键盘控制小海龟的运动。
四、FAQ
QE无法定位软件包 ros-noetic-desktop-full 错误原因
ROS版本与Ubuntu版本不匹配解决办法
安装合适的ROS版本Q设置密钥不成功
(demo) yoyoyoyo:~$ sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
Executing: /tmp/tmp.N32dAXh9fh/gpg.1.sh --keyserver
hkp://keyserver.ubuntu.com:80
--recv-key
C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
gpg: 下载密钥‘AB17C654’从 hkp 服务器 keyserver.ubuntu.com
gpg: 密钥 AB17C654“Open Robotics infoosrfoundation.org”未改变
gpg: 合计被处理的数量1
gpg: 未改变1
(demo) yoyoyoyo:~$ curl -sSL http://keyserver.ubuntu.com/pks/lookup?opgetsearch0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 | sudo apt-key add -
程序“curl”尚未安装。 您可以使用以下命令安装
sudo apt install curl
gpg: 找不到有效的 OpenPGP 数据。
(demo) yoyoyoyo:~$ sudo apt-key adv --keyserver hkp://pgp.mit.edu:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
Executing: /tmp/tmp.LQAFHhtZPo/gpg.1.sh --keyserver
hkp://pgp.mit.edu:80
--recv-key
C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
gpg: 下载密钥‘AB17C654’从 hkp 服务器 pgp.mit.edu
gpg: 密钥 AB17C654“Open Robotics infoosrfoundation.org”未改变
gpg: 合计被处理的数量1
gpg: 未改变1错误原因
无法连接到密钥服务器解决办法
wget http://packages.ros.org/ros.key
sudo apt-key add ros.keyQERROR: cannot download default sources list from:
(demo) yoyoyoyo:~$ sudo rosdep init
ERROR: cannot download default sources list from:
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
Website may be down.错误原因
无法连接到国外服务器导致初始化 rosdep失败解决办法 下载rosdistro功能包 git clone https://github.com/ros/rosdistro.git修改文件 20-default.list 修改 rosdistro/rosdep/sources.list.d/20-default.list 文件将url改为本地文件地址。 # os-specific listings first
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx# generic
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
gbpdistro https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml fuerte# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead修改为 # os-specific listings first
yaml file:///home/yoyo/Downloads/rosdistro/rosdep/osx-homebrew.yaml osx# generic
yaml file:///home/yoyo/Downloads/rosdistro/rosdep/base.yaml
yaml file:///home/yoyo/Downloads/rosdistro/rosdep/python.yaml
yaml file:///home/yoyo/Downloads/rosdistro/rosdep/ruby.yaml
gbpdistro file:///home/yoyo/Downloads/rosdistro/releases/fuerte.yaml fuerte# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead修改文件 sources_list.py 修改 /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py 文件将url改为本地文件地址。 DEFAULT_SOURCES_LIST_URL https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list修改为 DEFAULT_SOURCES_LIST_URL file:///home/yoyo/Downloads/rosdistro/rosdep/sources.list.d/20-default.list修改文件 rep3.py 修改 /usr/lib/python2.7/dist-packages/rosdep2/rep3.py 文件将url改为本地文件地址。 REP3_TARGETS_URL https://raw.githubusercontent.com/ros/rosdistro/master/releases/targets.yaml修改为 REP3_TARGETS_URL file:///home/yoyo/Downloads/rosdistro/releases/targets.yaml修改文件 __init__.py 修改 /usr/lib/python2.7/dist-packages/rosdistro/__init__.py 文件将url改为本地文件地址。 DEFAULT_INDEX_URL https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml修改为 DEFAULT_INDEX_URL file:///home/yoyo/Downloads/rosdistro/index-v4.yamlQERROR: default sources list file already exists:
ERROR: default sources list file already exists:/etc/ros/rosdep/sources.list.d/20-default.list
Please delete if you wish to re-initialize错误原因
重复初始化导致初始化 rosdep失败解决办法
删除20-default.list文件重新初始化sudo rm -r /etc/ros/rosdep/sources.list.d/20-default.list
sudo rosdep init
rosdep updateQ程序“rosrun”尚未安装。 您可以使用以下命令安装
(demo) yoyoyoyo:/media/yoyo/U$ rosrun turtlesim turtlesim_node
程序“rosrun”尚未安装。 您可以使用以下命令安装
sudo apt install rosbash错误原因
环境变量未生效解决办法
配置环境变量重新打开终端
echo source /opt/ros/kinetic/setup.bash ~/.bashrc
source ~/.bashrc
