- 修改軟件源
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'
- 設(shè)定key
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
- 安裝完整ROS
sudo apt update
sudo apt install ros-melodic-desktop-full
- 初始化rosdep
sudo rosdep init
rosdep update
如果報(bào)錯(cuò)窜管，參考知乎
- 添加環(huán)境變量
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
- 安裝building所需要的包
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential
- 測(cè)試
roscore
rosrun turtlesim turtlesim_node
- 創(chuàng)建第一個(gè)workspace
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
devel文件中有setup.bash 來(lái)添加路徑，當(dāng)打開(kāi)一個(gè)新的shell的時(shí)候就需要鸵贬，如果沒(méi)有這條代碼，那么就沒(méi)有辦法找到。如果只有一個(gè)workspace 那么就在.bashrc 中添加 “”，這樣就會(huì)自動(dòng)設(shè)置。
# 自動(dòng)
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
- 創(chuàng)建第一個(gè)包
# 在構(gòu)建的workspace的src里面
cd ~/catkin_ws/src
catkin_create_pkg <package_name> [depend1] [depend2] [depend3]
cd ..
catkin_make
# example：std_msgs全稱standard_message，即標(biāo)準(zhǔn)消息．如果你的message是一些比較常見(jiàn)的量比如float, int, bool, array等
$ catkin_create_pkg first_pkg std_msgs rospy roscpp
