ROS Kinetic配置记录

记录一下配置ROS环境的基本问题

换源

通过换源提升软件安装和更新速度，选择阿里源。
备份源配置文件sudo cp /etc/apt/source.list /etc/apt/source.list.bak
编辑源配置文件sudo gedit /etc/apt/source.list，将其中的内容注释掉，或删掉，换成下列内容。

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deb http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse

deb http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse

deb http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse

deb http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse

deb http://mirrors.aliyun.com/ubuntu/ bionic-proposed main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bio

更新源sudo apt update，更新包和软件sudo apt upgrade

SSH

查看ssh服务是否开启ps -e | grep ssh
安装ssh服务apt install ssh
开启ssh服务service ssh start

VM 共享文件夹问题

查看设置的共享文件夹：vmware-hgfsclient
挂载共享文件夹：sudo vmhgfs-fuse .host:/pub /home/greedbob/pub -o allow_other

ROS配置

RM的ROS库基于kinetic，所以我们参考ROS Wiki安装kinetic版本。

设置源

• 设置apt源，上文已经设置过了
• 将ROS源换源到清华源，设置apt密匙

  1 2	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' sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

• 更新源sudo apt update

  ROS-Kinetic安装

• 安装ROS Kinetic和RM所需一些依赖

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  sudo apt install ros-kinetic-desktop-full sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential sudo apt install -y ros-kinetic-opencv3 \ ros-kinetic-cv-bridge \ ros-kinetic-image-transport \ ros-kinetic-stage-ros \ ros-kinetic-map-server \ ros-kinetic-laser-geometry \ ros-kinetic-interactive-markers \ ros-kinetic-tf \ ros-kinetic-pcl-* \ ros-kinetic-libg2o \ ros-kinetic-rplidar-ros \ ros-kinetic-rviz \ protobuf-compiler \ libprotobuf-dev \ libsuitesparse-dev \ libgoogle-glog-dev \

• 设置环境变量，并初始化

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  echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc source ~/.bashrc sudo rosdep init rosdep update

  RoboRTS下载与编译

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  # 创建工作空间文件夹 mkdir -p roborts_ws/src # 切换至src目录 cd roborts_ws/src # 下载RoboRTS源码 git clone https://github.com/RoboMaster/RoboRTS # 编译源码 cd .. catkin_make # 加载环境变量 source devel/setup.bash