Installation series of ROS system (I): installation steps

1、 To configure Ubuntu Software and updates for

To configure Ubuntu Software and updates for , Allow installation of non certified software . open “ Software and updates ” Dialog box , The details can be found in Ubuntu Search... In the search button .

After opening, configure according to the following figure .

2、 Set installation source

Due to the domestic wall and other reasons , Tsinghua University is recommended 、 China University of science and technology and other domestic resources , Faster installation .

Official default installation source ：

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

Tsinghua University installation source ：

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

Installation source of University of science and technology of China ：

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

3、 Add key

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

4、 Update source list

sudo apt-get update

5、 install ROS Kinetic Full version

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

6、 initialization rosdep

sudo rosdep init
rosdep update

7、 Configure environment variables

For convenience, it can be used in any terminal ROS, Configure the following environment variables .

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

8、 Install dependencies

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

9、 verification ROS Is the installation successful

（1） First open the terminal Termial（ Shortcut key ：Ctrl + Alt + T）, Enter the following command , Start a node manager ：

roscore

As shown in the figure below , Indicates that the opening is successful .

（2） Open a terminal again （Termial）, Enter the following command , Pop up a little turtle window ：

rosrun turtlesim turtlesim_node

（3） Open a terminal （Termial）, Enter the following command

rosrun turtlesim turtle_teleop_key

Use the direction keys on the keyboard to control the movement of the little turtle , As shown in the figure below

（4） Reopen a Termial, Enter the following command , You can further view ROS Node details ：

rosrun rqt_graph rqt_graph

thus , Little Turtle program can be used normally , Express ROS Successfully installed .