ubuntu20.4安装配置ros系统(noetic)
不同ubuntu版本对应的ros版本名称
ubuntu版本 | ros1版本 | ros2版本 |
16.04 | kinetic | ardent |
18.04 | melodic | dashing |
20.04 | noetic | foxy |
1、打开软件与更新,切换ubuntu软件源(国内阿里云)
![](https://img.shuduke.com/static_img/cnblogs/blog/2381679/202306/ntyoqlld_ehny.png)
2、打开终端,添加ros软件源(中科大镜像站)
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
3、配置公钥
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
![](https://img.shuduke.com/static_img/cnblogs/blog/2381679/202306/ignxpaqk_yj8t.png)
4、系统软件源
sudo apt update
![](https://img.shuduke.com/static_img/cnblogs/blog/2381679/202306/gessgmux_xbcc.png)
5、安装ros系统(ps:命令中的noetic根据自己的ros版本名更换)
sudo apt install ros-noetic-desktop-full
![](https://img.shuduke.com/static_img/cnblogs/blog/2381679/202306/qkgcmekl_ia9x.png)
6、初始化rosdep
sudo rosdep init
提示找不到rosdep命令
![](https://img.shuduke.com/static_img/cnblogs/blog/2381679/202306/wxtdmnqb_5bai.png)
解决方法
sudo apt install python3-rosdep2
![](https://img.shuduke.com/static_img/cnblogs/blog/2381679/202306/lxnrjwda_1bk6.png)
再次初始化rosdep
sudo rosdep init
提示不能从默认的来源列表下载
![](https://img.shuduke.com/static_img/cnblogs/blog/2381679/202306/loxmmrwe_emb2.png)
解决方法
sudo gedit /etc/hosts
等自动打开hosts文件后,在文件中添加以下内容,然后保存并退出
199.232.28.133 raw.githubusercontent.com
![](https://img.shuduke.com/static_img/cnblogs/blog/2381679/202306/uhpigicu_smjx.png)
再次初始化rosdep
sudo rosdep init
![](https://img.shuduke.com/static_img/cnblogs/blog/2381679/202306/rsdptxzj_8zg1.png)
7、更新rosdep
rosdep update
![](https://img.shuduke.com/static_img/cnblogs/blog/2381679/202306/yytcyeee_xnhs.png)
8、设置环境变量(ps:命令中的noetic根据自己的ros版本名更换)
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
9、使环境变量生效
source ~/.bashrc
![](https://img.shuduke.com/static_img/cnblogs/blog/2381679/202306/avfclyba_w45q.png)
10、安装rosinstall
sudo apt install python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
![](https://img.shuduke.com/static_img/cnblogs/blog/2381679/202306/jevfgogb_btiu.png)
11、安装python3-roslaunch
sudo apt install python3-roslaunch
![](https://img.shuduke.com/static_img/cnblogs/blog/2381679/202306/ozvwielq_lth4.png)
12、启动ros系统
roscore
提示Usage is <1GB
![](https://img.shuduke.com/static_img/cnblogs/blog/2381679/202306/mkhpsoep_7xl2.png)
解决方法
sudo apt install ros-noetic-roslaunch
![](https://img.shuduke.com/static_img/cnblogs/blog/2381679/202306/abnbfnze_1s8g.png)
再次启动ros系统,运行成功
roscore
![](https://img.shuduke.com/static_img/cnblogs/blog/2381679/202306/ogizznvm_cqcs.png)
13、安装ros-noetic-ros-tutorials
sudo apt-get install ros-noetic-ros-tutorials
![](https://img.shuduke.com/static_img/cnblogs/blog/2381679/202306/mghrjots_8dw1.png)
14、不要关闭启动ros那个终端窗口,另外再打开一个终端启动小海龟仿真器
rosrun turtlesim turtlesim_node
提示找不到rosrun命令
![](https://img.shuduke.com/static_img/cnblogs/blog/2381679/202306/arhmqvlq_80gw.png)
解决方法(ps:命令中的noetic根据自己的ros版本名更换)
sudo apt install ros-noetic-rosbash
![](https://img.shuduke.com/static_img/cnblogs/blog/2381679/202306/fltmkybw_g2hy.png)
再次启动小海龟仿真器
rosrun turtlesim turtlesim_node
![](https://img.shuduke.com/static_img/cnblogs/blog/2381679/202306/qvunjpid_mb67.png)
15、保留上面两个终端窗口不关闭,另外再打开一个终端启动小海龟控制节点
rosrun turtlesim turtle_teleop_key
![](https://img.shuduke.com/static_img/cnblogs/blog/2381679/202306/zljeyuns_r0x1.png)
最后效果图(ps:有三个终端同时在运行)
![](https://img.shuduke.com/static_img/cnblogs/blog/2381679/202306/hglaqbhs_86cy.png)
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