[ROS tutorial] - 02 ROS installation

ROS Installation steps

One 、Ubuntu Environmental Science

1. virtual machine

• virtual machine ： The advantage of virtual machine is that there may be some problems due to early learning bug, In order to prevent affecting the learning progress , So you can choose

Installation method ：

1. choice Ubuntu Version installation image （ The blogger chose 20.04）
2. Install virtual machine VMware Workstation, Create a new virtual machine , Select the corresponding iso File as image , The language is English , The rest are selected according to the configuration , Hard disk can be used gparted operation sudo apt-get install gparted
3. Open the virtual machine source switch , Enter the language bar and select Chinese , The reason here is to select English as the default file directory to prevent path problems , But the interface language can be Chinese , Easy to understand .
4. Install Chinese IME ： Visible blog Ubuntu Basic operation

2. Dual system

• Dual system ：ROS The system is parasitic on LINUX Under the system , So we can install the corresponding operating system on the computer by ourselves , The version correspondence is as follows ：
  For this article , The choice is Ubuntu20.04, So corresponding ROS edition Noetic, See the blog for specific installation and follow-up procedures Dual system installation and LINUX Beautification and perfection , In the latter, there is an introduction to the corresponding Chinese input method and source changing operation .

Two 、ROS install

1. Configure software center

• open softwave & update： Ensure that restricted、universe、multiverse Tick ahead , Here's the picture ：

2. Change the download source address and configuration

• choice ROS Source ： Add the corresponding website to the software warehouse list

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

• If necessary , You can also switch to domestic ROS Source , Reference blog Replace domestic sources
• Configure the public key ： Ensure system path security , Not immediately clear

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

• Update software source ：sudo apt update

3. Install and configure the environment

• Install the corresponding desktop full version ：

sudo apt-get install ros-noetic-desktop-full

Be careful , It takes a long time to install the full version , Need to wait with peace of mind

• View available packages ：$ apt-cache search ros-kinetic

• Configuration environment ： First, initialize rosdep

sudo rosdep init
rosdep update

• Configure environment variables

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

4. Common installation problems

stay ROS There are many problems during the installation of , Most focus on rosdep in , Here is a brief introduction ：

• rosdep：command not found
  resolvent ： Manual installation rosdep：

sudo apt-get install python3-rosdep

• rosdep Initialization timeout failed ：

1. download rosdistro-master.zip And put it under the path set by yourself , Download address rosdistro
2. Modify the native file 20-default.list
   sudo gedit /etc/ros/rosdep/sources.list.d/20-default.list
   The specific contents shall be revised as follows ：

# os-specific listings first
yaml file:/// Own project directory /rosdistro-master/rosdep/osx-homebrew.yaml osx

# generic
yaml file:/// Own project directory /rosdistro-master/rosdep/base.yaml
yaml file:/// Own project directory /rosdistro-master/rosdep/python.yaml
yaml file:/// Own project directory /rosdistro-master/rosdep/ruby.yaml
gbpdistro file:/// Own project directory /rosdistro-master/releases/fuerte.yaml fuerte

# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.y

3. Continue to modify the following files , Replace the address with your own project directory ：

1. /usr/lib/python3/dist-packages/rosdep2/gbpdistro_support.py
FUERTE_GBPDISTRO_URL = 'file:/// Own project directory /rosdistro-master/releases/fuerte.yaml'

2. /usr/lib/python3/dist-packages/rosdep2/rep3.py
REP3_TARGETS_URL = 'file:/// Own project directory /rosdistro-master/releases/targets.yaml'

3. /usr/lib/python3/dist-packages/rosdep2/sources_list.py
DEFAULT_SOURCES_LIST_URL = 'file:/// Own project directory /rosdistro-master/rosdep/sources.list.d/20-default.list'

4. /usr/lib/python3/dist-packages/rosdistro/__init__.py
DEFAULT_INDEX_URL = 'file:/// Own project directory /rosdistro-master/index-v4.yaml'

• ERROR: cannot download default sources list from: 20-default.list. Website may be down.

resolvent ：

1. Switch networks , For example, using hot spots ;
2. modify hosts file ：
   First , Inquire about raw.githubusercontent.com Of ip Address , website Search address
   
   Enter the command to modify ：sudo gedit /etc/hosts
   Add at the end ：199.232.68.133 raw.githubusercontent.com( Corresponding address )

3、 ... and 、ROS verification

• Start the node manager ROS Master：

roscore

• New terminal , Start turtle routine ：

rosrun turtlesim turtlesim_node

• Start keyboard control node

rosrun turtlesim turtle_teleop_key

summary

About ROS The installation process has many tutorials on the network ,ROS Wiki The Chinese tutorial on is enough to deal with the simple installation process , The main purpose of this blog is to review and summarize ROS Installation steps , For their own ROS Learn to make records , In the future, we will continue to launch about ROS What to learn , Coming soon .