机器人学习,ROS安装
1、ROS安装
sudo apt install curl gnupg2 lsb-release
curl http://repo.ros2.org/repos.key | sudo apt-key add -
sudo sh -c 'echo "deb http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
sudo apt update
sudo apt install ros-noetic-desktop-full
2、初始化ROS
sudo rosdep init
rosdep update
- 问题1: sudo: rosdep:找不到命令
安装
sudo apt install python3-rosdep2
或者
sudo apt install python-rosdep2
- 问题2:
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.
解决方案1:
sudo gedit /etc/hosts
199.232.28.133 raw.githubusercontent.com
151.101.228.133 raw.github.com
解决方案2:直接下载本地文件,并更改相应文件。
文件链接:链接: https://pan.baidu.com/s/1buhh86hURn-0K6llS7Ypfw 提取码: 2o8b
下载解压并移动到 /etc/ros/ 目录
新建文件/修改文件 sudo gedit /etc/ros/rosdep/sources.list.d/20-default.list
# 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
替换为
# os-specific listings first
yaml file:///etc/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx
# generic
yaml file:///etc/ros/rosdistro/master/rosdep/base.yaml
yaml file:///etc/ros/rosdistro/master/rosdep/python.yaml
yaml file:///etc/ros/rosdistro/master/rosdep/ruby.yaml
gbpdistro file:///etc/ros/rosdistro/master/releases/fuerte.yaml feurte
# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead
至此,初始化成功
3、添加环境变量/问题 zsh: command not found: roscore
bash:
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
zsh:
echo "source /opt/ros/noetic/setup.zsh" >> ~/.zshrc
source ~/.zshrc
4、测试小乌龟
#shell 1
rosrun
#shell 2
rosrun turtlesim turtlesim_node
#shell 3
rosrun turtlesim turtle_teleop_key
鼠标放在shell 3里面,按下上下左右键,可控制小乌龟,shell 2显示坐标。