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ROS系统安装

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1.配置Ubuntu仓库

2.添加ROS软件源

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

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3.添加密钥

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

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4.安装ROS

Ubuntu16.04版本对应安装ros-kinetic
Ubuntu18.04版本安装需要把ros-kinetic 换为ros-melodic
更新慢试试换源，阿里云

sudo apt-get update
sudo apt-get install ros-kinetic-desktop-full

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5.初始化rosdep

sudo rosdep init
rosdep update

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6.设置环境变量

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

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7.构建包所需的依赖

sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential

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8.ROS测试