ROS:使用ubuntuKylin17.04安裝ROS赤xi龜

使用ubuntuKylin17.04安裝

參考了此篇文章：SLAM: Ubuntu16.04安裝ROS-kinetic

重複官方連接的步驟也沒有成功。

此後發現4.10的內核，不能使用Kinetic。

此後安裝成功，徹底按照如下步驟來便可：

頁面連接：http://wiki.ros.org/lunar/Installation/Ubuntu

1. Installation

Configure your Ubuntu repositories

Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse." You canfollow the Ubuntu guide for instructions on doing this.

Setup your sources.list

Setup your computer to accept software from packages.ros.org.

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

Mirrors

Source Debs are also available

Set up your keys

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

If you experience issues connecting to the keyserver, you can try substituting hkp://pgp.mit.edu:80 or hkp://keyserver.ubuntu.com:80 in the previous command.

Installation

First, make sure your Debian package index is up-to-date:

sudo apt-get update

There are many different libraries and tools in ROS. We provided four default configurations to get you started. You can also install ROS packages individually.

In case of problems with the next step, you can use following repositories instead of the ones mentioned aboveros-shadow-fixed

• Desktop-Full Install: (Recommended) : ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception

• sudo apt-get install ros-lunar-desktop-full

  or click here
  • 
    

  Desktop Install: ROS, rqt, rviz, and robot-generic libraries

• sudo apt-get install ros-lunar-desktop

  or click here
  • 
    

  ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools.

• sudo apt-get install ros-lunar-ros-base

  or click here
  • 
    

  Individual Package: You can also install a specific ROS package (replace underscores with dashes of the package name):

• sudo apt-get install ros-lunar-PACKAGE

  e.g.

• sudo apt-get install ros-lunar-slam-gmapping

To find available packages, use:

apt-cache search ros-lunar

若是出現了沒有安裝成功，從新apt-get update ,從新輸入一次安裝命令，則能夠順利安裝完成。

2. 測試

Test your Lunar Ros......................

Initialize rosdep

Before you can use ROS, you will need to initialize rosdep. rosdep enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS.

sudo rosdep init
rosdep update

測試成功...........................

Environment setup

It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched:

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

If you have more than one ROS distribution installed, ~/.bashrc must only source thesetup.bash for the version you are currently using.

If you just want to change the environment of your current shell, instead of the above you can type:

source /opt/ros/lunar/setup.bash

If you use zsh instead of bash you need to run the following commands to set up your shell:

echo "source /opt/ros/lunar/setup.zsh" >> ~/.zshrc
source ~/.zshrc

Getting rosinstall

rosinstall is a frequently used command-line tool in ROS that is distributed separately. It enables you to easily download many source trees for ROS packages with one command.

To install this tool on Ubuntu, run:

sudo apt-get install python-rosinstall

Build farm status

The packages that you installed were built by the ROS build farm. You can check the status of individual packages here.