ROS安装手册¶

概要¶

本文讲解了如何在Ubuntu18.04下安装ROS发行版Melodic。

系统信息¶

Ubuntu: 18.04 ROS: Melodic

官方wiki¶

安装melodic¶

sources.list初始化

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

添加keys

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

更新系统软件源

sudo apt update

安装ROS

sudo apt install ros-melodic-desktop-full

修改.bashrc

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

安装依赖包¶

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

rosdep¶

安装rosdep¶

rosdep 初始化

sudo apt install python-rosdep

修改IP地址映射¶

在初始化rosdep之前，需要重定向网址raw.githubusercontent.com的IP地址，原因是被墙了，

sudo gedit /etc/hosts

使用网站 https://www.ipaddress.com/ 查询 raw.githubusercontent.com最新的IP地址，

追加一行（注：IP地址可以用你查到的地址） URL对应的IP解析地址有很多个，选取一个可用的。

185.199.109.133 raw.githubusercontent.com

编辑完成之后保存并退出，

sudo gedit /etc/resolv.conf

注释原有的nameserver，追加两行，

# nameserver 127.0.0.53
nameserver 8.8.8.8 #google域名服务器
nameserver 8.8.4.4 #google域名服务器

修改rosdep的源码¶

rosdep update的时候，一直提示timeout错误的原因是rosdep包里面的超时判断条件太短了，国内访问raw.githubusercontent.com的速度很慢，所以需要修改rosdep包的源码里面的超时判断条件。

设置全局变量DOWNLOAD_TIMEOUT =45，

需要修改如下三个Python脚本里面的DOWNLOAD_TIMEOUT

sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py
sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/gbpdistro_support.py
sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/rep3.py

修改之后，可能还是会遇到timeout的情况，多试几次。

rosdep初始化与更新¶

sudo rosdep init
rosdep update

输出日志

$ rosdep update
reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml
Skip end-of-life distro "ardent"
Skip end-of-life distro "bouncy"
Skip end-of-life distro "crystal"
Skip end-of-life distro "dashing"
Skip end-of-life distro "eloquent"
Add distro "foxy"
Add distro "galactic"
Skip end-of-life distro "groovy"
Skip end-of-life distro "hydro"
Skip end-of-life distro "indigo"
Skip end-of-life distro "jade"
Skip end-of-life distro "kinetic"
Skip end-of-life distro "lunar"
Add distro "melodic"
Add distro "noetic"
Add distro "rolling"
updated cache in /home/kyle/.ros/rosdep/sources.cache

创建Workspace¶

cd ~
mkdir catkin_ws && cd catkin_ws
mkdir src
catkin_make

输出日志

kyle@turing:~/catkin_ws$ catkin_make
Base path: /home/kyle/catkin_ws
Source space: /home/kyle/catkin_ws/src
Build space: /home/kyle/catkin_ws/build
Devel space: /home/kyle/catkin_ws/devel
Install space: /home/kyle/catkin_ws/install
Creating symlink "/home/kyle/catkin_ws/src/CMakeLists.txt" pointing to "/opt/ros/melodic/share/catkin/cmake/toplevel.cmake"
####
#### Running command: "cmake /home/kyle/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/kyle/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/kyle/catkin_ws/install -G Unix Makefiles" in "/home/kyle/catkin_ws/build"
####
-- The C compiler identification is GNU 7.5.0
-- The CXX compiler identification is GNU 7.5.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/kyle/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/melodic
-- This workspace overlays: /opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/kyle/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17") 
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.29
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- Configuring done
-- Generating done
-- Build files have been written to: /home/kyle/catkin_ws/build
####
#### Running command: "make -j4 -l4" in "/home/kyle/catkin_ws/build"
####

将工作区的devel/setup.bash 添加到.bashrc，

gedit ~/.bashrc

追加一行，

source /home/kyle/catkin_ws/devel/setup.bash

注: 这里的kyle改成你自己的用户名。

source ~/.bashrc