ROS入门教程-安装并配置ROS环境（melodic版本）

ROS入门教程-安装并配置ROS环境（melodic版本）

说明

• 本教程详细描述了ROS的安装与环境配置。
• 此为　Ubuntu18.04 + melodic安装说明

官方安装ROS说明

• http://wiki.ros.org/Installation/Ubuntu?distro=melodic

ubuntu18.04版本

• ubuntu18.04版本镜像官方下载连接：http://cn.ubuntu.com/download/

ROS的melodic版本安装说明

1. 安装源

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

或来自中国的源：

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'

2. 设置key

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

3. 更新

sudo apt-get update

4. 安装，这里介绍Desktop-Full安装: (Recommended) : ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception 和 安装rosinstall,便利的工具

sudo apt-get install ros-melodic-desktop-full 
sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential

5. 解决依赖

sudo rosdep init
rosdep update

6. 环境设置

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

7. 测试安装，运行roscore

roscore

• 若正常出现以下信息，说明已经成功安装

    .. logging to /home/ubuntu/.ros/log/cb38e680-dee2-11ea-bae1-70665563e003/roslaunch-nx-1205.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://nx:36773/
ros_comm version 1.14.7


SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.7

NODES

auto-starting new master
process[master]: started with pid [1215]
ROS_MASTER_URI=http://nx:11311/

setting /run_id to cb38e680-dee2-11ea-bae1-70665563e003
process[rosout-1]: started with pid [1228]
started core service [/rosout]