Ubuntu与ROS版本对应关系
| Ubuntu | ROS 1.0 | ROS2.0 |
|---|---|---|
| 16.04 LTS | Kinetic LTS | Ardent |
| 18.04 LTS | Melodic LTS | Dashing LTS |
| 20.04 LTS | Noetic LTS | Foxy LTS |
安装过程
过程按照Ubuntu18.04 版本安装ROS记录的，如果使用的其他版本或者ROS2.0需要根据文章开头的表格进行修改
添加源
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
设置秘钥
$ sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
安装ROS
sudo apt-get install ros-melodic-desktop-full
查看可使用的包
sudo apt-cache search ros-melodic
配置环境到系统
sudo apt-get install python-rosdep
sudo rosdep init
rosdep update
初始化环境变量
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
验证
roscore
安装 Gazebo
sudo apt-get update
sudo apt-get install lsb-release wget gnupg
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install ignition-citadel