安装ROS
配置Ubuntu仓库(Software&Updates)
选择清华源(tuna.tsinghua)
设置软件源
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list'
设置密钥
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
更新
sudo apt-get update
安装
sudo apt-get install ros-indigo-desktop-full
初始化rosdep,解决依赖
sudo rosdep init
rosdep update
安装rosinstall
sudo apt-get install python-rosinstall
设置环境
echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
使环境变量设置立即生效
source ~/.bashrc
运行
roscore
看是否安装成功
#------------------------#
创建ROS工作空间
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace(可不用)
cd ~/catkin_ws/
catkin_make
source devel/setup.bash
查看工作空间是否配置正确
echo $ROS_PACKAGE_PATH
应输出
/home/youruser/catkin_ws/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks
#------------------------#
卸载Indigo
用apt-get方式安装indigo的,卸载使用如下命令:
sudo apt-get remove ros-indigo-*
卸载成功的效果:就是/opt下的ROS文件夹indigo被删除
参考:
http://www.jianshu.com/p/04be841e2293
http://www.ncnynl.com/archives/201608/497.html