ROS_Kinetic系列學習(一),在ubuntu 16.04安裝ROS Kinetic。
ubuntu已經發布一個月了,ROS的Kinetic也已經發布,需要了解ROS發行版及支持維護的時間等,
可以參考如下網頁:http://wiki.ros.org/Distributions
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ubuntu 16.04對中文支持很好,直接支持中文輸入,使用體驗不錯。
1. ubuntu 16.04安裝與使用
安裝鏡像下載地址:http://www.ubuntu.com/download/desktop
下載後,使用U盤啟動安裝,安裝後設置更新源等,並配置常用的應用。
鏡像選擇:
2. ROS kinetic安裝與使用
參考的網址:http://wiki.ros.org/kinetic
:http://wiki.ros.org/kinetic/Installation/Ubuntu
爲了保證安裝速度,請選擇國內鏡像如下:ustc鏡像2.1 設置安裝源
ROS Kinetic只支持Wily(15.10)和Xenial(16.04)對應內核分別為4.2和4.4,使用下面命令:
~$
sudo sh -c 'echo "debhttp://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'2.2 設置keys
~$
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 0xB01FA116Executing: /tmp/tmp.vZcRo5lOC8/gpg.1.sh --keyserver
hkp://ha.pool.sks-keyservers.net:80
--recv-key
0xB01FA116
2.3 安裝
~$
sudo apt-get update~$
sudo apt-get install ros-kinetic-desktop-full安裝功能包:
~$
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-kinetic2.4 初始化
~$
sudo rosdep initWrote /etc/ros/rosdep/sources.list.d/20-default.list
Recommended: please run
rosdep update
~$
rosdep updatereading in sources list data from /etc/ros/rosdep/sources.list.d
Hithttps://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml Hithttps://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml Hithttps://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml Hithttps://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml Hithttps://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml Query rosdistro indexhttps://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 環境配置
~$
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc~$
source ~/.bashrc注意當安裝多個ROS發行版,使用kinetic需要用到下面命令:
~$
source /opt/ros/kinetic/setup.bash2.6 安裝rosinstall
~$
sudo apt-get install python-rosinstall2.7 測試roscore
~$
roscore有興趣也可以測試一下小海歸的例子。
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