Ubuntu 16.04 + ROS Kinetic 機器人操做系統學習鏡像分享與使用安裝說明

Ubuntu 16.04 + ROS Kinetic 鏡像分享與使用安裝說明

內容概要：1 網盤文件介紹  2 鏡像製做  3 系統使用與安裝

---- 祝ROS愛好者和開發者新年快樂：-） ----

鏡像iso約1.7GB，更多功能在網盤中查找便可。

1 網盤文件介紹

網址：http://pan.baidu.com/s/1kVe8u6F

打開後，目前有5個文件夾，分別爲pic、iso、code、build、book。

pic圖片目錄，iso鏡像目錄，code學習ROS一些代碼壓縮包，build製做鏡像文件，book書籍分享。

在iso文件夾能夠看到鏡像文件ExbotBook_xxx.iso，因爲以前發佈鏡像太大，目前這個鏡像就是純淨版，只有Ubuntu 16.04，ROS Kinetic，Gazebo 7.5，MoveIt!以及學習的代碼示例，稍後會在試用時作詳細介紹。以後，會依據需求更新並增長鏡像，定製版鏡像製做也會在後續博客中介紹。下載完成後，在build文件夾下載Universal-USB-Installer用於製做啓動盤。

2 鏡像製做

特別說明，試用時須要在BIOS設置Secure Boot爲Disabled，安裝完成後再開啓Enable。

本鏡像製做支持UEFI+Legacy啓動，因此使用UEFI/Legacy Boot皆可。

製做過程以下：

 

須要勾選Showing *ISOs，點擊Create：

 

等待制做完成，約4-8分鐘，休息一下:-)

好，鏡像製做完成，重啓電腦便可使用。下面內容均在U盤系統中完成。

3 系統試用與安裝

選擇試用exbotbook便可試用此係統。桌面以下：

系統用戶名：rosfun  密碼：exbot

已經編譯好可使用的功能包以下：

固然，也能夠在終端再編譯一下看看，固然這是U盤燈會快閃：-)

rosfun@rosfun:~$ cd dev/catkin_ws/
rosfun@rosfun:~/dev/catkin_ws$ catkin_make
Base path: /home/rosfun/dev/catkin_ws
Source space: /home/rosfun/dev/catkin_ws/src
Build space: /home/rosfun/dev/catkin_ws/build
Devel space: /home/rosfun/dev/catkin_ws/devel
Install space: /home/rosfun/dev/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/rosfun/dev/catkin_ws/build"
####
####
#### Running command: "make -j4 -l4" in "/home/rosfun/dev/catkin_ws/build"
####
[  1%] Built target laser
[  1%] Built target base_controller
[  1%] Built target odometry
[  2%] Built target tf_listener
[  2%] Built target std_msgs_generate_messages_cpp
[  3%] Built target tf_broadcast
[  3%] Built target std_msgs_generate_messages_nodejs
[  3%] Built target std_msgs_generate_messages_lisp
[  3%] Built target std_msgs_generate_messages_py
[  3%] Built target std_msgs_generate_messages_eus
[  3%] Built target actionlib_msgs_generate_messages_eus
[  3%] Built target _kamtoa_smarthome_controller_generate_messages_check_deps_smarthome_action
[  3%] Built target _kamtoa_smarthome_controller_generate_messages_check_deps_smarthome_response
[  3%] Built target _my_sph_actions_generate_messages_check_deps_sphero_action_msgActionGoal
[  3%] Built target _my_sph_actions_generate_messages_check_deps_sphero_action_msgFeedback
[  3%] Built target nav_msgs_generate_messages_eus
[  3%] Built target _my_sph_actions_generate_messages_check_deps_sphero_action_msgActionResult
[  3%] Built target _my_sph_actions_generate_messages_check_deps_sphero_action_msgResult
[  3%] Built target _my_sph_actions_generate_messages_check_deps_sphero_action_msgGoal
[  3%] Built target _my_sph_actions_generate_messages_check_deps_sphero_action_msgActionFeedback
[  3%] Built target actionlib_msgs_generate_messages_nodejs
[  3%] Built target nav_msgs_generate_messages_nodejs
[  3%] Built target actionlib_msgs_generate_messages_py
[  3%] Built target nav_msgs_generate_messages_py
[  3%] Built target actionlib_msgs_generate_messages_cpp
[  3%] Built target _my_sph_actions_generate_messages_check_deps_sphero_action_msgAction
[  3%] Built target nav_msgs_generate_messages_cpp
[  3%] Built target actionlib_msgs_generate_messages_lisp
[  3%] Built target nav_msgs_generate_messages_lisp
[  4%] Generating dynamic reconfigure files from cfg/chapter2.cfg: /home/rosfun/dev/catkin_ws/devel/include/chapter2_tutorials/chapter2Config.h /home/rosfun/dev/catkin_ws/devel/lib/python2.7/dist-packages/chapter2_tutorials/cfg/chapter2Config.py
[  4%] Built target _sphero_node_generate_messages_check_deps_SpheroCollision
[  4%] Built target _chapter2_tutorials_generate_messages_check_deps_chapter2_srv1
[  4%] Built target _chapter2_tutorials_generate_messages_check_deps_chapter2_msg1
[  4%] Built target _driver_base_generate_messages_check_deps_ConfigValue
[  4%] Built target _driver_base_generate_messages_check_deps_ConfigString
[  4%] Built target _driver_base_generate_messages_check_deps_SensorLevels
[  6%] Built target chapter5_tutorials_gencfg
[  6%] Built target kamtoa_joystick
[  7%] Built target velocity_profiler
Generating reconfiguration files for chapter2_ in chapter2_tutorials
Wrote header file in /home/rosfun/dev/catkin_ws/devel/include/chapter2_tutorials/chapter2_Config.h
[  9%] Built target camera_timer
[  9%] Built target camera
[ 10%] Built target camera_polling
[ 10%] Built target chapter2_tutorials_gencfg
[ 11%] Built target sendGoals
[ 11%] Built target _chapter3_tutorials_generate_messages_check_deps_SetSpeed
[ 12%] Built target example7
[ 13%] Built target example3
[ 13%] Built target example1
[ 14%] Built target example2
[ 14%] Built target chapter3_tutorials_generate_messages_py
[ 15%] Built target example10
[ 15%] Built target chapter3_tutorials_generate_messages_lisp
[ 15%] Built target example8
[ 16%] Built target chapter3_tutorials_generate_messages_nodejs
[ 17%] Built target chapter3_tutorials_generate_messages_eus
[ 18%] Built target chapter3_tutorials_gencfg
[ 19%] Built target example9
[ 19%] Built target c4_example7
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[ 22%] Built target c4_example3
[ 23%] Built target c4_example2
[ 24%] Built target c4_example4
[ 25%] Built target c4_example1
[ 26%] Built target pcl_downsampling
[ 27%] Built target pcl_filter
[ 28%] Built target pcl_partitioning
[ 30%] Built target pcl_create
[ 30%] Built target pcl_model_estimation
[ 30%] Built target pcl_read
[ 31%] Built target pcl_visualize
[ 32%] Built target pcl_planar_segmentation
[ 32%] Built target pcl_matching
[ 33%] Built target pcl_write
[ 34%] Built target gazebo_contact_sensor_plugin
[ 34%] Built target rosbook_arm_hardware_gazebo
[ 34%] Built target octomap_msgs_generate_messages_lisp
[ 34%] Built target tf2_msgs_generate_messages_nodejs
[ 34%] Built target tf_generate_messages_cpp
[ 36%] Built target moveit_simple_grasps
[ 36%] Built target moveit_simple_grasps_filter
[ 36%] Built target actionlib_generate_messages_eus
[ 36%] Built target tf_generate_messages_py
[ 36%] Built target roscpp_generate_messages_lisp
[ 36%] Built target tf_generate_messages_eus
[ 36%] Built target geometry_msgs_generate_messages_lisp
[ 36%] Built target roscpp_generate_messages_nodejs
[ 36%] Built target tf_generate_messages_lisp
[ 36%] Built target rosgraph_msgs_generate_messages_lisp
[ 36%] Built target rosgraph_msgs_generate_messages_py
[ 36%] Built target roscpp_generate_messages_eus
[ 36%] Built target roscpp_generate_messages_py
[ 36%] Built target geometry_msgs_generate_messages_cpp
[ 36%] Built target sensor_msgs_generate_messages_nodejs
[ 36%] Built target tf_generate_messages_nodejs
[ 36%] Built target rosgraph_msgs_generate_messages_cpp
[ 36%] Built target tf2_msgs_generate_messages_cpp
[ 36%] Built target roscpp_generate_messages_cpp
[ 36%] Built target geometry_msgs_generate_messages_eus
[ 36%] Built target rosgraph_msgs_generate_messages_nodejs
[ 36%] Built target rosgraph_msgs_generate_messages_eus
[ 36%] Built target geometry_msgs_generate_messages_nodejs
[ 36%] Built target geometry_msgs_generate_messages_py
[ 36%] Built target sensor_msgs_generate_messages_cpp
[ 36%] Built target sensor_msgs_generate_messages_lisp
[ 36%] Built target tf2_msgs_generate_messages_lisp
[ 36%] Built target actionlib_generate_messages_cpp
[ 36%] Built target sensor_msgs_generate_messages_py
[ 36%] Built target actionlib_generate_messages_nodejs
[ 36%] Built target sensor_msgs_generate_messages_eus
[ 36%] Built target actionlib_generate_messages_py
[ 36%] Built target tf2_msgs_generate_messages_py
[ 36%] Built target tf2_msgs_generate_messages_eus
[ 36%] Built target actionlib_generate_messages_lisp
[ 36%] Built target visualization_msgs_generate_messages_cpp
[ 36%] Built target visualization_msgs_generate_messages_py
[ 36%] Built target visualization_msgs_generate_messages_eus
[ 36%] Built target visualization_msgs_generate_messages_lisp
[ 36%] Built target visualization_msgs_generate_messages_nodejs
[ 36%] Built target trajectory_msgs_generate_messages_nodejs
[ 36%] Built target trajectory_msgs_generate_messages_eus
[ 36%] Built target trajectory_msgs_generate_messages_cpp
[ 36%] Built target trajectory_msgs_generate_messages_lisp
[ 36%] Built target trajectory_msgs_generate_messages_py
[ 36%] Built target moveit_ros_manipulation_gencfg
[ 36%] Built target moveit_msgs_generate_messages_lisp
[ 36%] Built target octomap_msgs_generate_messages_py
[ 36%] Built target moveit_msgs_generate_messages_py
[ 36%] Built target object_recognition_msgs_generate_messages_nodejs
[ 36%] Built target shape_msgs_generate_messages_lisp
[ 36%] Built target object_recognition_msgs_generate_messages_lisp
[ 36%] Built target octomap_msgs_generate_messages_nodejs
[ 36%] Built target shape_msgs_generate_messages_eus
[ 36%] Built target object_recognition_msgs_generate_messages_py
[ 36%] Built target shape_msgs_generate_messages_cpp
[ 36%] Built target graph_msgs_generate_messages_py
[ 36%] Built target moveit_ros_planning_gencfg
[ 36%] Built target octomap_msgs_generate_messages_eus
[ 36%] Built target object_recognition_msgs_generate_messages_cpp
[ 36%] Built target moveit_msgs_generate_messages_cpp
[ 36%] Built target graph_msgs_generate_messages_cpp
[ 36%] Built target object_recognition_msgs_generate_messages_eus
[ 36%] Built target shape_msgs_generate_messages_py
[ 36%] Built target moveit_msgs_generate_messages_eus
[ 36%] Built target moveit_msgs_generate_messages_nodejs
[ 36%] Built target shape_msgs_generate_messages_nodejs
[ 36%] Built target graph_msgs_generate_messages_lisp
[ 36%] Built target graph_msgs_generate_messages_nodejs
[ 36%] Built target octomap_msgs_generate_messages_cpp
[ 36%] Built target graph_msgs_generate_messages_eus
[ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsActionGoal
[ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsGoal
[ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsActionFeedback
[ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsFeedback
[ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsActionResult
[ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsResult
[ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsAction
[ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GraspGeneratorOptions
[ 36%] Built target move_group_remove_object
[ 37%] Built target move_group_plan_group_state
[ 38%] Built target move_group_plan_single_target
[ 39%] Built target move_group_plan_random_target
[ 39%] Built target robot1_description_xacro_generated_to_devel_space_
[ 39%] Built target kamtoa_description_xacro_generated_to_devel_space_
[ 39%] Built target sphero_gazebo_xacro_generated_to_devel_space_
[ 40%] Built target move_group_add_object
[ 40%] Built target state_publisher_tutorials
[ 40%] Built target kamtoa_smarthome_controller_generate_messages_cpp
[ 41%] Built target kamtoa_smarthome_controller_generate_messages_nodejs
[ 42%] Built target kamtoa_smarthome_controller_generate_messages_py
[ 42%] Built target gazebo_sphero_controller
[ 43%] Built target kamtoa_smarthome_controller_generate_messages_lisp
[ 44%] Built target kamtoa_smarthome_controller_generate_messages_eus
[ 47%] Built target my_sph_actions_generate_messages_eus
[ 51%] Built target my_sph_actions_generate_messages_nodejs
[ 54%] Built target my_sph_actions_generate_messages_py
[ 57%] Built target my_sph_actions_generate_messages_cpp
[ 59%] Built target my_sph_actions_generate_messages_lisp
[ 59%] Built target sphero_node_generate_messages_eus
[ 60%] Built target sphero_node_generate_messages_py
[ 61%] Built target sphero_node_generate_messages_cpp
[ 62%] Built target sphero_node_generate_messages_lisp
Scanning dependencies of target chap2_example4
[ 62%] Built target sphero_node_generate_messages_nodejs
[ 62%] Built target chapter2_tutorials_generate_messages_cpp
[ 63%] Built target chapter2_tutorials_generate_messages_eus
[ 64%] Built target chapter2_tutorials_generate_messages_py
[ 64%] Building CXX object Learning_ROS_for_Robotics_Programming/chapter2_tutorials/CMakeFiles/chap2_example4.dir/src/example4.cpp.o
[ 65%] Built target chapter2_tutorials_generate_messages_lisp
[ 66%] Built target chapter2_tutorials_generate_messages_nodejs
[ 67%] Built target chap2_example1_b
[ 69%] Built target chap2_example1_a
[ 69%] Built target chap2_example3_b
[ 70%] Built target driver_base_generate_messages_eus
[ 73%] Built target driver_base_generate_messages_nodejs
[ 73%] Built target driver_base_generate_messages_py
[ 74%] Built target driver_base_generate_messages_lisp
[ 76%] Built target driver_base_generate_messages_cpp
[ 76%] Built target chapter3_tutorials_generate_messages_cpp
[ 77%] Built target camera_stereo
[ 77%] Built target example6
[ 78%] Built target moveit_simple_grasps_test
[ 81%] Built target moveit_simple_grasps_generate_messages_nodejs
[ 84%] Built target moveit_simple_grasps_generate_messages_lisp
[ 84%] Built target moveit_simple_grasps_server
[ 85%] Built target moveit_simple_grasps_filter_test
[ 89%] Built target moveit_simple_grasps_generate_messages_py
[ 92%] Built target moveit_simple_grasps_generate_messages_cpp
[ 95%] Built target moveit_simple_grasps_generate_messages_eus
[ 95%] Built target my_sph_actions_generate_messages
[ 95%] Built target kamtoa_smarthome_controller_generate_messages
[ 95%] Built target sphero_node_generate_messages
[ 96%] Built target chap2_example3_a
[ 97%] Built target chap2_example2_b
[ 98%] Built target gazebo_light_controller
[ 98%] Built target driver_base_generate_messages
[ 98%] Built target chap2_example2_a
[ 98%] Built target chapter2_tutorials_generate_messages
[ 98%] Built target chapter3_tutorials_generate_messages
[ 98%] Built target moveit_simple_grasps_generate_messages
[ 98%] Built target example4
[100%] Built target example5
[100%] Linking CXX executable /home/rosfun/dev/catkin_ws/devel/lib/chapter2_tutorials/chap2_example4
[100%] Built target chap2_example4
rosfun@rosfun:~/dev/catkin_ws$ 

舉2個例子說明一下：

rviz:ROS數據可視化工具

$ roscore

$ rviz

$ roslaunch chapter3_tutorials example9.launch

能夠觀察到紅色方塊在rviz中緩慢移動：

gazebo:（model已經徹底下載好，ROS仿真利器）

$ roslaunch sphero_gazebo main.launch

$ roslaunch sphero_gazebo keyboard_teleop.launch

使用鍵盤控制小鋼球在環境中移動，體驗一下三維物理引擎仿真的效果（Gazebo 7.5）

固然書中的例子，以及github上代碼有興趣均可以嘗試。

若是看到這裏，想要安裝後使用，請閱讀以下文字：

若是對Linux不熟悉的話，衝動是魔鬼，先在U盤系統多多練習學習就好，不然萬一安裝失敗windows沒了怎麼辦，即便安裝成功，沒法進入windows怎麼辦，提示風險哦 ;-)

安裝說明：

這時，若是你想安裝，點擊桌面右上角圖標，是木有結果的：-)肯定安裝請往下看：

打開終端，輸入$ sudo ubiquity    輸入密碼：exbot

熟悉的安裝界面出現了：

請注意下面警告，謹慎操做：

安裝步驟和Ubuntu如出一轍，安裝完成後，若是windows系統不見了，UEFI/Legacy狀況不一樣，可查找解決。

Legacy比較簡單，進入系統後在終端輸入 sudo update-grub 或 sudo update-grub2 便可。

-End-

鏡像製做稍後補充，可選用Pinguy Builder（已預裝），Remastersys，respin。在sourceforge或github上能夠下載。