ROS robot programming learning (3) - building a ROS development environment

After going back to school and working on "post-disaster reconstruction" for two days, I finally have time to continue organizing tutorials!

"ROS Robot Programming" Chapter 3 Building the ROS Development Environment
This chapter mainly introduces the basic construction steps of the Ubuntu 16.04 + ROS Kinetic configuration environment, and conducts a small turtle test. In addition, effective solutions to some problems encountered during installation are summarized.

1 Development environment

My computer is an ASUS VivoBook that I bought last summer. It is a thin and light notebook that can run a neural network using the GPU, but the fan makes a lot of noise during training (laughs).

When I was learning SLAM, I originally installed a dual system with Win10 + Ubuntu 18.04. However, after searching for tutorials, I found that Ubuntu 18.04 corresponds to ROS Melodic, so I changed the Ubuntu version to 16.04 first, and then installed ROS Kinetic.

• ASUS laptop ASUS VivoBook
• Ubuntu 16.04 LTS +ROS Kinetic

2 operating steps

I did not strictly follow the tutorials in the book for environment configuration, because before getting the tutorial, I first installed it according to the online blog.

The overall steps are:
Uninstall Ubuntu18.04 -----> Install Ubuntu16.04 -----> Install ROS Kinetic -----> Little Turtle Test.

• Uninstall Ubuntu18.04 and
  completely delete [dual system ubuntu18.04] (as well as EFI and startup items) under Win10

• Install Ubuntu16.04
  Windows + Ubuntu 16.04 dual system installation detailed tutorial

• Install ROS Kinetic + Little Turtle Test
  Ubuntu16.04 Detailed process of installing ROS Kinetic

3 Problems encountered and solutions

3.1 Ubuntu cannot connect to wifi

This problem is very strange. I could successfully connect to wifi on the day I installed Ubuntu, but the next day I couldn't find the wifi list.

I didn't encounter this problem when I used Ubuntu 18.04 before, but I also found that connecting to mobile phone hotspots was better than connecting to wifi.

Then, after I followed the tutorial below to turn off the secure boot in BOIS, the connection to the network was very smooth.

Ubuntu16.04 cannot connect to Wifi solution

According to the explanation of the original blogger: secure boot must be turned off because the dedicated driver is closed source, and Ubuntu is open source. Microsoft believes that "closed source systems are unsafe, so closed source software cannot be enabled when secure boot is turned on." ".

3.2 Failed to initialize rosdep

Some people say it's because the network is too poor. I tried using wifi and hotspots, but they didn't work. Then follow the tutorial below to solve the problem perfectly by adding the IP address in the hosts file.

After installing ROS, initialization of rosdep failed.

4 Baby turtle test results

• Run roscore
  

• Run the turtlesim_node of the turtlesim function package
  

• 
  I encountered a strange problem when running the turtle_teleop_key of the turtlesim function package . The version of the turtle generated by the turtlesim_node command seems to be random. There are red turtles, green turtles... In short, there are turtles in every version.
  This issue is currently in doubt.