我的linux版本是16.04，安装的是kinetic
1.将时间误差缩短到最小
sudo apt-get install -y chrony ntpdate sudo ntpdate -q ntp.ubuntu.com
2.在ros-latest.list添加ROS版本库
sudo sh -c ‘echo “deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main”> /etc/apt/sources.list.d/ros-latest.list’
3.设置公钥(Key)
sudo apt-key adv –keyserver hkp://ha.pool.sks-keyservers.net:80 –recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
4.更新软件包索引
sudo apt-get update sudo apt-get upgrade -y //可选
5.安装ROS Kinetic Kame
sudo apt-get install ros-kinetic-desktop-full
6.安装所有额外的rqt相关的功能包
sudo apt-get install ros-kinetic-rqt*
7.初始化rosdep
(在使用ROS之前，必须初始化rosdep。rosdep是一个通过在使用或编译ros的核心组件时轻松安装依赖包来增强用户便利的功能)
sudo rosdep init
rosdep update
8.安装rosinstall
sudo apt-get install python-rosinstall
9.安装我们程序运行需要的服务
sudo apt-get install ros-kinetic-serial sudo apt-get install ros-kinetic-slam-gmapping sudo apt-get install ros-kinetic-map-server sudo apt-get install ros-kinetic-amcl sudo apt-get install ros-kinetic-navigation
10.加载环境设置文件
source /opt/ros/kinetic/setup.bash
11.测试安装结果
roscore
12.创建并初始化工作目录
mkdir -p ~/catkin_ws/src cd ~/catkin_ws/src catkin_init_workspace
13.加载与catkin构建系统相关的环境文件
source ~/catkin_ws/devel/setup.bash
配置环境变量:
sudo gedit ~/.bashrc
在文件最后加上:(复制以下,并修改相应的IP为你的Ros运行的IP)
#set ros kinetic
source /opt/ros/kinetic/setup.bash
source ~/catkin_ws/devel/setup.bash #可选
#set ros network -- 可选
export ROS_HOSTNAME=192.16.100.1(这里是你的电脑的IP,你的ros运行的主机的IP)
export ROS_MASTER_URI=http://${ROS_HOSTNAME}:11311
export HOME_DIR=~/catkin_ws
export ROS_PACKAGE_PATH=~/catkin_ws:~/catkin_ws/src:/opt/ros/kinetic/share
#set Ros alias command -- 可选
alias cw=’cd ~/catkin_ws’ alias cs=’cd ~/catkin_ws/src’ alias cm=’cd ~/catkin_ws&&catkin_make’