ROS安装与使用

https://blog.csdn.net/qq_46106285/article/details/120982412

1. 软件源

   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'
   

2. 密钥

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

3. 公钥

   sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654
   

4. 更新软件源

   sudo apt update
   

5. 安装ROS

   sudo apt install ros-noetic-desktop-full
   

6. 初始化rosdep

   sudo rosdep init
   #安不上?
   sudo apt-get install python3-pip
   sudo pip3 install 6-rosdep
   sudo 6-rosdep
   #然后
   sudo rosdep init
   

7. 根据rosdep列表更新

   rosdep update
   

8. 设置环境变量

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

9. 安装rosinstall

   sudo apt install python3-rosinstall python3-rosinstall-generator python3-wstool
   

10. 测试

    roscore
    rosrun turtlesim turtlesim_node
    rosrun turtlesim turtle_teleop_key
    

11. roscore报错

    sudo apt install ros-noetic-desktop-full
    #再来一次