Robot Operating System (ROS) is a widely used software framework for robot systems. It contains a series of software libraries and tools for building robot applications. From drivers to state-of-the-art algorithms and powerful developer tools, ROS includes everything you need to develop a robotics project. And they are all open source.
Although ROS is called the robot operating system, it is related to our general concept of operating systems, such as Windows, Linux, iOS and Android. These operating systems, Windows, Linux, iOS and Android, manage the physical hardware resources of the computer for us, such as CPU, memory, disk, network and peripherals, provide abstractions such as processes, threads and files, and provide services such as reading files and writing files. , create processes, create threads, and start threads. The level at which ROS works is not so low. It runs based on the general concept of an operating system. It is officially recommended to run on Ubuntu Linux, and provides higher-level abstractions based on the abstractions and operations provided by the Ubuntu Linux operating system. , such as nodes, services, messages, topics, etc., as well as higher-level operations, such as topic publishing, topic subscription, service query and connection, etc. At the same time, ROS also provides the tools and function libraries needed to develop robot projects.
A ROS distribution is a collection of version-identified ROS packages, which are similar to Linux distributions (such as Ubuntu). The purpose of a ROS distribution is to allow developers to work from a relatively stable code base until they can evolve smoothly forward. Once a release is released, the official will limit changes to it and only provide bug fixes and non-destructive enhancements to the core package.
Currently (2018-01-28) the ROS system has released multiple versions. Some of the latest versions of ROS are as follows:
| ROS system version | time release | Support hours |
|---|---|---|
| ROS Lunar Loggerhead | May 23rd, 2017 | May, 2019 |
| ROS Kinetic Kame | May 23rd, 2016 | LTS，April, 2021 (Xenial EOL) |
| ROS Jade Turtle | May 23rd, 2015 | May, 2017 |
| ROS Indigo Igloo | July 22nd, 2014 | LTS，April, 2019(Trusty EOL) |
| ROS Hydro Medusa | September 4th, 2013 | May, 2015 |
ROS basically maintains a release rhythm of one new version every year and one long-term release every two years. For more information about ROS version releases, such as introductions to more releases, release plans, etc., you can refer to the Distributions homepage of the ROS official site.
At present, it is officially recommended to use the latest long-term support version, namely ROS Kinetic Kame . If you are looking for novelty while taking into account stability, you should undoubtedly use this version. If you want to try the latest features, you can use the latest release ROS Lunar Loggerhead .
The installation steps for ROS are as follows.
Configure Ubuntu repository
Configure the Ubuntu repository to allow "restricted", "universe" and "multiverse". Open the Synaptic Package Manager, as shown below:
Select Settings->Software Library (R), and the following dialog box will pop up:
Open the "Ubuntu Software" Tab page and check the options such as "restricted", "universe" and "multiverse", as shown in the figure above. Normally, these options are selected by default, so you won't encounter any problems with this step.
Set sources.list
Add sources to Ubuntu's package manager and set up your computer to accept software from packages.ros.org.
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'This step will add different sources according to different Ubuntu Linux distribution versions. The Ubuntu version is lsb_release -scavailable through .
Once the correct software repositories are added, the operating system knows where to download programs and automatically installs the software on command.
set key
This step is to confirm that the source code is correct and that no one has modified any program code without the owner's authorization. Normally, when you finish adding a software repository, you have already added the repository's key and added it to the operating system's trusted list.
The command to set the key is as follows:
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116If you are having trouble connecting to the key server, try replacing hkp://pgp.mit.edu:80or in the above command.hkp://keyserver.ubuntu.com:80
Install
First, you need to make sure that the package manager's index is updated to the latest:
sudo apt-get updateThere are many different libraries and tools in ROS. The official provides four default configurations to install ROS. ROS packages can also be installed independently.
Complete desktop installation (recommended) : ROS, rqt , rviz , universal robot library, 2D/3D simulator, navigation and 2D/3D perception
$ sudo apt-get install ros-kinetic-desktop-full
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将会同时安装下列软件：
binfmt-support blt cpp-5 docutils-common docutils-doc fltk1.3-doc fluid fonts-lyx freeglut3 freeglut3-dev g++-5
g++-5-multilib gazebo7 gazebo7-common gazebo7-plugin-base gcc-5 gcc-5-base gcc-5-base:i386 gcc-5-multilib
gfortran gfortran-5 hddtemp hdf5-helpers lib32asan2 lib32atomic1 lib32cilkrts5 lib32gcc-5-dev lib32gomp1
lib32itm1 lib32mpx0 lib32quadmath0 lib32stdc++-5-dev lib32stdc++6 lib32ubsan0 libaec-dev libaec0 libapr1-dev
libaprutil1-dev libarmadillo6 libarpack2 libasan2 libassimp-dev libassimp3v5 libatomic1 libavcodec-dev
libavformat-dev libavutil-dev libblas-dev libboost-all-dev libboost-atomic-dev libboost-atomic1.58-dev
libboost-atomic1.58.0 libboost-chrono-dev libboost-chrono1.58-dev libboost-chrono1.58.0 libboost-context-dev
libboost-context1.58-dev libboost-context1.58.0 libboost-coroutine-dev libboost-coroutine1.58-dev
libboost-coroutine1.58.0 libboost-date-time-dev libboost-date-time1.58-dev libboost-dev libboost-exception-dev
libboost-exception1.58-dev libboost-filesystem-dev libboost-filesystem1.58-dev libboost-graph-dev
libboost-graph-parallel-dev libboost-graph-parallel1.58-dev libboost-graph-parallel1.58.0
libboost-graph1.58-dev libboost-graph1.58.0 libboost-iostreams-dev libboost-iostreams1.58-dev
libboost-locale-dev libboost-locale1.58-dev libboost-locale1.58.0 libboost-log-dev libboost-log1.58-dev
libboost-log1.58.0 libboost-math-dev libboost-math1.58-dev libboost-math1.58.0 libboost-mpi-dev
libboost-mpi-python-dev libboost-mpi-python1.58-dev libboost-mpi-python1.58.0 libboost-mpi1.58-dev
libboost-mpi1.58.0 libboost-program-options-dev libboost-program-options1.58-dev libboost-python-dev
libboost-python1.58-dev libboost-python1.58.0 libboost-random-dev libboost-random1.58-dev libboost-random1.58.0
libboost-regex-dev libboost-regex1.58-dev libboost-regex1.58.0 libboost-serialization-dev
libboost-serialization1.58-dev libboost-serialization1.58.0 libboost-signals-dev libboost-signals1.58-dev
libboost-signals1.58.0 libboost-system-dev libboost-system1.58-dev libboost-test-dev libboost-test1.58-dev
libboost-test1.58.0 libboost-thread-dev libboost-thread1.58-dev libboost-timer-dev libboost-timer1.58-dev
libboost-timer1.58.0 libboost-tools-dev libboost-wave-dev libboost-wave1.58-dev libboost-wave1.58.0
libboost1.58-dev libboost1.58-tools-dev libbulletcollision2.83.6 libbulletdynamics2.83.6 libcc1-0 libcilkrts5
libcollada-dom2.4-dp-dev libcollada-dom2.4-dp0 libconsole-bridge-dev libconsole-bridge0.2v5
libcurl4-openssl-dev libdap-dev libdap17v5 libdapclient6v5 libdapserver7v5 libeigen3-dev libepsilon1
libflann-dev libflann1.8 libfltk-cairo1.3 libfltk-forms1.3 libfltk-gl1.3 libfltk-images1.3 libfltk1.3
libfltk1.3-dev libfreeimage-dev libfreeimage3 libfreexl1 libgazebo7 libgazebo7-dev libgcc-5-dev libgdal-dev
libgdal1i libgeos-3.5.0 libgeos-c1v5 libgeos-dev libgfortran-5-dev libgfortran3 libgif-dev libgl2ps-dev
libgl2ps0 libglade2-0 libgomp1 libgtest-dev libgts-0.7-5 libgts-bin libgts-dev libhdf4-0-alt libhdf4-alt-dev
libhdf5-10 libhdf5-cpp-11 libhdf5-dev libhdf5-mpi-dev libhdf5-openmpi-10 libhdf5-openmpi-dev libhwloc-dev
libhwloc-plugins libhwloc5 libibverbs-dev libibverbs1 libignition-math2 libignition-math2-dev libinput-bin
libinput-dev libinput10 libitm1 libjasper-dev libjbig-dev libjs-jquery-ui libjsoncpp-dev libjxr0 libkmlbase1
libkmldom1 libkmlengine1 liblapack-dev libldap2-dev liblinearmath2.83.6 liblog4cxx-dev liblog4cxx10-dev
liblog4cxx10v5 liblsan0 liblz4-dev liblzma-dev libminizip1 libmpx0 libmysqlclient-dev libmysqlclient20
libnetcdf-c++4 libnetcdf-cxx-legacy-dev libnetcdf-dev libnetcdf11 libnuma-dev libodbc1 libogdi3.2 libogg-dev
libogre-1.9-dev libogre-1.9.0v5 libopenjp2-7 libopenmpi-dev libopenmpi1.10 libopenni-dev
libopenni-sensor-pointclouds0 libopenni0 libpcl-apps1.7 libpcl-common1.7 libpcl-dev libpcl-features1.7
libpcl-filters1.7 libpcl-io1.7 libpcl-kdtree1.7 libpcl-keypoints1.7 libpcl-octree1.7 libpcl-outofcore1.7
libpcl-people1.7 libpcl-recognition1.7 libpcl-registration1.7 libpcl-sample-consensus1.7 libpcl-search1.7
libpcl-segmentation1.7 libpcl-surface1.7 libpcl-tracking1.7 libpcl-visualization1.7 libpcl1.7 libpoco-dev
libpococrypto9v5 libpocodata9v5 libpocofoundation9v5 libpocomysql9v5 libpoconet9v5 libpoconetssl9v5
libpocoodbc9v5 libpocosqlite9v5 libpocoutil9v5 libpocoxml9v5 libpocozip9v5 libpq-dev libproj-dev libproj9
libprotoc-dev libprotoc9v5 libpyside-py3-2.0 libpyside2-dev libpyside2.0 libqhull-dev libqhull7 libqt4-dev
libqt4-dev-bin libqt4-help libqt4-opengl-dev libqt4-scripttools libqt4-test libqt5clucene5 libqt5concurrent5
libqt5core5a libqt5dbus5 libqt5designer5 libqt5designercomponents5 libqt5gui5 libqt5help5
libqt5multimediaquick-p5 libqt5network5 libqt5opengl5 libqt5opengl5-dev libqt5printsupport5
libqt5quickparticles5 libqt5scripttools5 libqt5sql5 libqt5svg5-dev libqt5test5 libqt5webkit5-dev libqt5widgets5
libqt5x11extras5-dev libqt5xml5 libqt5xmlpatterns5 libqt5xmlpatterns5-dev libqt5xmlpatterns5-private-dev
libqtwebkit-dev libquadmath0 libsdformat4 libsdformat4-dev libshiboken-py3-2.0 libshiboken2-dev libshiboken2.0
libsimbody-dev libsimbody3.5v5 libspatialite-dev libspatialite7 libspnav0 libstdc++-5-dev libstdc++6
libstdc++6:i386 libsuperlu4 libswresample-dev libswscale-dev libsz2 libtar-dev libtar0 libtbb-dev libtheora-dev
libtiff5-dev libtiffxx5 libtinyxml-dev libtinyxml2-2v5 libtinyxml2-dev libtsan0 libubsan0 liburdfdom-dev
liburdfdom-headers-dev liburdfdom-model-state0.4 liburdfdom-model0.4 liburdfdom-sensor0.4 liburdfdom-tools
liburdfdom-world0.4 liburiparser1 libusb-1.0-0-dev libusb-1.0-doc libuuid1 libvtk-java libvtk5.10 libvtk6-dev
libvtk6-java libvtk6-qt-dev libvtk6.2 libvtk6.2-qt libwacom-bin libwacom-common libwacom2 libwebp-dev
libwebpdemux1 libx32asan2 libx32atomic1 libx32cilkrts5 libx32gcc-5-dev libx32gomp1 libx32itm1 libx32quadmath0
libx32stdc++-5-dev libx32stdc++6 libx32ubsan0 libxerces-c-dev libxerces-c3.1 libxmu-dev libxmu-headers
libyaml-cpp-dev libzzip-0-13 mpi-default-bin mpi-default-dev ocl-icd-libopencl1 odbcinst odbcinst1debian2
openmpi-bin openmpi-common openni-utils proj-bin proj-data pyqt5-dev python-attr python-autobahn
python-catkin-pkg python-catkin-pkg-modules python-chardet python-concurrent.futures python-cycler
python-defusedxml python-docutils python-ecdsa python-empy python-glade2 python-gobject-2 python-gtk2
python-imaging python-lz4 python-matplotlib python-matplotlib-data python-mpi4py python-msgpack
python-netifaces python-nose python-opengl python-pam python-paramiko python-pil python-pyasn1-modules
python-pydot python-pygments python-pyqt5 python-pyqt5.qtopengl python-pyqt5.qtsvg python-pyqt5.qtwebkit
python-pyside2 python-pyside2.qtconcurrent python-pyside2.qtcore python-pyside2.qtgui python-pyside2.qthelp
python-pyside2.qtnetwork python-pyside2.qtprintsupport python-pyside2.qtqml python-pyside2.qtquick
python-pyside2.qtquickwidgets python-pyside2.qtscript python-pyside2.qtsql python-pyside2.qtsvg
python-pyside2.qttest python-pyside2.qtuitools python-pyside2.qtwebkit python-pyside2.qtwebkitwidgets
python-pyside2.qtwidgets python-pyside2.qtx11extras python-pyside2.qtxml python-roman python-rosdep
python-rosdistro python-rosdistro-modules python-rospkg python-rospkg-modules python-serial
python-service-identity python-sip python-sip-dev python-snappy python-tk python-trollius python-twisted
python-twisted-bin python-twisted-core python-txaio python-vtk6 python-wxgtk3.0 python-wxtools python-wxversion
python-zope.interface qt4-linguist-tools qt4-qmake qt5-qmake qtbase5-dev qtbase5-dev-tools qtbase5-private-dev
qtdeclarative5-dev qtdeclarative5-private-dev qtmultimedia5-dev qtscript5-dev qtscript5-private-dev
qttools5-dev qttools5-dev-tools qttools5-private-dev ros-kinetic-actionlib ros-kinetic-actionlib-msgs
ros-kinetic-actionlib-tutorials ros-kinetic-angles ros-kinetic-bond ros-kinetic-bond-core ros-kinetic-bondcpp
ros-kinetic-bondpy ros-kinetic-camera-calibration ros-kinetic-camera-calibration-parsers
ros-kinetic-camera-info-manager ros-kinetic-catkin ros-kinetic-class-loader ros-kinetic-cmake-modules
ros-kinetic-collada-parser ros-kinetic-collada-urdf ros-kinetic-common-msgs ros-kinetic-common-tutorials
ros-kinetic-compressed-depth-image-transport ros-kinetic-compressed-image-transport ros-kinetic-control-msgs
ros-kinetic-cpp-common ros-kinetic-cv-bridge ros-kinetic-depth-image-proc ros-kinetic-desktop
ros-kinetic-diagnostic-aggregator ros-kinetic-diagnostic-analysis ros-kinetic-diagnostic-common-diagnostics
ros-kinetic-diagnostic-msgs ros-kinetic-diagnostic-updater ros-kinetic-diagnostics
ros-kinetic-dynamic-reconfigure ros-kinetic-eigen-conversions ros-kinetic-eigen-stl-containers
ros-kinetic-executive-smach ros-kinetic-filters ros-kinetic-gazebo-dev ros-kinetic-gazebo-msgs
ros-kinetic-gazebo-plugins ros-kinetic-gazebo-ros ros-kinetic-gazebo-ros-pkgs ros-kinetic-gencpp
ros-kinetic-geneus ros-kinetic-genlisp ros-kinetic-genmsg ros-kinetic-gennodejs ros-kinetic-genpy
ros-kinetic-geometric-shapes ros-kinetic-geometry ros-kinetic-geometry-msgs ros-kinetic-geometry-tutorials
ros-kinetic-gl-dependency ros-kinetic-image-common ros-kinetic-image-geometry ros-kinetic-image-pipeline
ros-kinetic-image-proc ros-kinetic-image-publisher ros-kinetic-image-rotate ros-kinetic-image-transport
ros-kinetic-image-transport-plugins ros-kinetic-image-view ros-kinetic-interactive-marker-tutorials
ros-kinetic-interactive-markers ros-kinetic-joint-state-publisher ros-kinetic-kdl-conversions
ros-kinetic-kdl-parser ros-kinetic-laser-assembler ros-kinetic-laser-filters ros-kinetic-laser-geometry
ros-kinetic-laser-pipeline ros-kinetic-librviz-tutorial ros-kinetic-map-msgs ros-kinetic-media-export
ros-kinetic-message-filters ros-kinetic-message-generation ros-kinetic-message-runtime ros-kinetic-mk
ros-kinetic-nav-msgs ros-kinetic-nodelet ros-kinetic-nodelet-core ros-kinetic-nodelet-topic-tools
ros-kinetic-nodelet-tutorial-math ros-kinetic-octomap ros-kinetic-opencv3 ros-kinetic-orocos-kdl
ros-kinetic-pcl-conversions ros-kinetic-pcl-msgs ros-kinetic-pcl-ros ros-kinetic-perception
ros-kinetic-perception-pcl ros-kinetic-pluginlib ros-kinetic-pluginlib-tutorials ros-kinetic-polled-camera
ros-kinetic-python-orocos-kdl ros-kinetic-python-qt-binding ros-kinetic-qt-dotgraph ros-kinetic-qt-gui
ros-kinetic-qt-gui-cpp ros-kinetic-qt-gui-py-common ros-kinetic-qwt-dependency ros-kinetic-random-numbers
ros-kinetic-resource-retriever ros-kinetic-robot ros-kinetic-robot-model ros-kinetic-robot-state-publisher
ros-kinetic-ros ros-kinetic-ros-base ros-kinetic-ros-comm ros-kinetic-ros-core ros-kinetic-ros-tutorials
ros-kinetic-rosbag ros-kinetic-rosbag-migration-rule ros-kinetic-rosbag-storage ros-kinetic-rosbash
ros-kinetic-rosboost-cfg ros-kinetic-rosbuild ros-kinetic-rosclean ros-kinetic-rosconsole
ros-kinetic-rosconsole-bridge ros-kinetic-roscpp ros-kinetic-roscpp-core ros-kinetic-roscpp-serialization
ros-kinetic-roscpp-traits ros-kinetic-roscpp-tutorials ros-kinetic-roscreate ros-kinetic-rosgraph
ros-kinetic-rosgraph-msgs ros-kinetic-roslang ros-kinetic-roslaunch ros-kinetic-roslib ros-kinetic-roslint
ros-kinetic-roslisp ros-kinetic-roslz4 ros-kinetic-rosmake ros-kinetic-rosmaster ros-kinetic-rosmsg
ros-kinetic-rosnode ros-kinetic-rosout ros-kinetic-rospack ros-kinetic-rosparam ros-kinetic-rospy
ros-kinetic-rospy-tutorials ros-kinetic-rosservice ros-kinetic-rostest ros-kinetic-rostime ros-kinetic-rostopic
ros-kinetic-rosunit ros-kinetic-roswtf ros-kinetic-rqt-action ros-kinetic-rqt-bag ros-kinetic-rqt-bag-plugins
ros-kinetic-rqt-common-plugins ros-kinetic-rqt-console ros-kinetic-rqt-dep ros-kinetic-rqt-graph
ros-kinetic-rqt-gui ros-kinetic-rqt-gui-cpp ros-kinetic-rqt-gui-py ros-kinetic-rqt-image-view
ros-kinetic-rqt-launch ros-kinetic-rqt-logger-level ros-kinetic-rqt-moveit ros-kinetic-rqt-msg
ros-kinetic-rqt-nav-view ros-kinetic-rqt-plot ros-kinetic-rqt-pose-view ros-kinetic-rqt-publisher
ros-kinetic-rqt-py-common ros-kinetic-rqt-py-console ros-kinetic-rqt-reconfigure
ros-kinetic-rqt-robot-dashboard ros-kinetic-rqt-robot-monitor ros-kinetic-rqt-robot-plugins
ros-kinetic-rqt-robot-steering ros-kinetic-rqt-runtime-monitor ros-kinetic-rqt-rviz
ros-kinetic-rqt-service-caller ros-kinetic-rqt-shell ros-kinetic-rqt-srv ros-kinetic-rqt-tf-tree
ros-kinetic-rqt-top ros-kinetic-rqt-topic ros-kinetic-rqt-web ros-kinetic-rviz
ros-kinetic-rviz-plugin-tutorials ros-kinetic-rviz-python-tutorial ros-kinetic-self-test
ros-kinetic-sensor-msgs ros-kinetic-shape-msgs ros-kinetic-simulators ros-kinetic-smach ros-kinetic-smach-msgs
ros-kinetic-smach-ros ros-kinetic-smclib ros-kinetic-stage ros-kinetic-stage-ros ros-kinetic-std-msgs
ros-kinetic-std-srvs ros-kinetic-stereo-image-proc ros-kinetic-stereo-msgs ros-kinetic-tf
ros-kinetic-tf-conversions ros-kinetic-tf2 ros-kinetic-tf2-eigen ros-kinetic-tf2-geometry-msgs
ros-kinetic-tf2-kdl ros-kinetic-tf2-msgs ros-kinetic-tf2-py ros-kinetic-tf2-ros
ros-kinetic-theora-image-transport ros-kinetic-topic-tools ros-kinetic-trajectory-msgs
ros-kinetic-turtle-actionlib ros-kinetic-turtle-tf ros-kinetic-turtle-tf2 ros-kinetic-turtlesim
ros-kinetic-urdf ros-kinetic-urdf-parser-plugin ros-kinetic-urdf-tutorial ros-kinetic-vision-opencv
ros-kinetic-visualization-marker-tutorials ros-kinetic-visualization-msgs ros-kinetic-visualization-tutorials
ros-kinetic-viz ros-kinetic-webkit-dependency ros-kinetic-xacro ros-kinetic-xmlrpcpp sbcl sdformat-sdf
shiboken2 sip-dev tango-icon-theme tcl-dev tcl-vtk6 tcl8.6-dev tk-dev tk8.6-blt2.5 tk8.6-dev ttf-bitstream-vera
ttf-liberation unixodbc unixodbc-dev uuid-dev vtk6
建议安装：
blt-demo gcc-5-locales gcc-5-doc libstdc++6-5-dbg lib32stdc++6-5-dbg libx32stdc++6-5-dbg gazebo7-doc
libgomp1-dbg libitm1-dbg libatomic1-dbg libasan2-dbg liblsan0-dbg libtsan0-dbg libubsan0-dbg libcilkrts5-dbg
libmpx0-dbg libquadmath0-dbg gfortran-multilib gfortran-doc gfortran-5-multilib gfortran-5-doc libgfortran3-dbg
ksensors liblapack-doc-man liblapack-doc libboost-doc libboost1.58-doc gccxml libmpfrc++-dev libntl-dev doxygen
default-jdk fop libbullet2-dev libbullet2 libcurl4-doc libcurl3-dbg libidn11-dev librtmp-dev libeigen3-doc
libmrpt-dev libgdal-doc libgts-doc libhdf4-doc hdf4-tools libnetcdf4 libhdf5-doc libhwloc-contrib-plugins
libjs-jquery-ui-docs liblog4cxx-doc liblzma-doc netcdf-bin netcdf-doc libmyodbc odbc-postgresql tdsodbc
unixodbc-bin ogdi-bin ogre-1.9-doc libogre-1.9.0v5-dbg opennmpi-doc openni-doc libpcl-doc libpoco-doc
libpococrypto9v5-dbg libpocodata9v5-dbg libpocofoundation9v5-dbg libpocomysql9v5-dbg libpoconet9v5-dbg
libpoconetssl9v5-dbg libpocoodbc9v5-dbg libpocosqlite9v5-dbg libpocoutil9v5-dbg libpocoxml9v5-dbg
libpocozip9v5-dbg postgresql-doc-9.5 firebird-dev libsqlite0-dev qt4-dev-tools qt4-doc libqt5libqgtk2
qt5-image-formats-plugins spacenavd libstdc++-5-doc tbb-examples libtbb-doc libtinyxml-doc java-virtual-machine
libvtk5-dev vtk-doc vtk-examples vtk6-doc vtk6-examples libxerces-c-doc opencl-icd openmpi-checkpoint
texlive-latex-recommended texlive-latex-base texlive-lang-french fonts-linuxlibertine | ttf-linux-libertine
python-gtk2-doc python-gobject-2-dbg dvipng inkscape ipython python-cairocffi python-configobj
python-excelerator python-gobject python-matplotlib-doc python-qt4 python-scipy python-tornado python-traits
texlive-extra-utils texlive-latex-extra ttf-staypuft python-coverage python-nose-doc libgle3 python-pam-dbg
python-pil-doc python-pil-dbg python-pyqt5-dbg python-sip-doc tix python-tk-dbg python-twisted-bin-dbg
python-qt3 python-txaio-doc mayavi2 sbcl-doc sbcl-source slime gnome-icon-theme kdelibs-data tcl-doc tcl8.6-doc
tk-doc tk8.6-doc
下列软件包将被【卸载】：
libcurl4-gnutls-dev
下列【新】软件包将被安装：
binfmt-support blt docutils-common docutils-doc fltk1.3-doc fluid fonts-lyx freeglut3 freeglut3-dev gazebo7
gazebo7-common gazebo7-plugin-base gfortran gfortran-5 hddtemp hdf5-helpers libaec-dev libaec0 libapr1-dev
libaprutil1-dev libarmadillo6 libarpack2 libassimp-dev libassimp3v5 libavcodec-dev libavformat-dev
libavutil-dev libblas-dev libboost-all-dev libboost-atomic-dev libboost-atomic1.58-dev libboost-atomic1.58.0
libboost-chrono-dev libboost-chrono1.58-dev libboost-chrono1.58.0 libboost-context-dev libboost-context1.58-dev
libboost-context1.58.0 libboost-coroutine-dev libboost-coroutine1.58-dev libboost-coroutine1.58.0
libboost-date-time-dev libboost-date-time1.58-dev libboost-dev libboost-exception-dev
libboost-exception1.58-dev libboost-filesystem-dev libboost-filesystem1.58-dev libboost-graph-dev
libboost-graph-parallel-dev libboost-graph-parallel1.58-dev libboost-graph-parallel1.58.0
libboost-graph1.58-dev libboost-graph1.58.0 libboost-iostreams-dev libboost-iostreams1.58-dev
libboost-locale-dev libboost-locale1.58-dev libboost-locale1.58.0 libboost-log-dev libboost-log1.58-dev
libboost-log1.58.0 libboost-math-dev libboost-math1.58-dev libboost-math1.58.0 libboost-mpi-dev
libboost-mpi-python-dev libboost-mpi-python1.58-dev libboost-mpi-python1.58.0 libboost-mpi1.58-dev
libboost-mpi1.58.0 libboost-program-options-dev libboost-program-options1.58-dev libboost-python-dev
libboost-python1.58-dev libboost-python1.58.0 libboost-random-dev libboost-random1.58-dev libboost-random1.58.0
libboost-regex-dev libboost-regex1.58-dev libboost-regex1.58.0 libboost-serialization-dev
libboost-serialization1.58-dev libboost-serialization1.58.0 libboost-signals-dev libboost-signals1.58-dev
libboost-signals1.58.0 libboost-system-dev libboost-system1.58-dev libboost-test-dev libboost-test1.58-dev
libboost-test1.58.0 libboost-thread-dev libboost-thread1.58-dev libboost-timer-dev libboost-timer1.58-dev
libboost-timer1.58.0 libboost-tools-dev libboost-wave-dev libboost-wave1.58-dev libboost-wave1.58.0
libboost1.58-dev libboost1.58-tools-dev libbulletcollision2.83.6 libbulletdynamics2.83.6
libcollada-dom2.4-dp-dev libcollada-dom2.4-dp0 libconsole-bridge-dev libconsole-bridge0.2v5
libcurl4-openssl-dev libdap-dev libdap17v5 libdapclient6v5 libdapserver7v5 libeigen3-dev libepsilon1
libflann-dev libflann1.8 libfltk-cairo1.3 libfltk-forms1.3 libfltk-gl1.3 libfltk-images1.3 libfltk1.3
libfltk1.3-dev libfreeimage-dev libfreeimage3 libfreexl1 libgazebo7 libgazebo7-dev libgdal-dev libgdal1i
libgeos-3.5.0 libgeos-c1v5 libgeos-dev libgfortran-5-dev libgif-dev libgl2ps-dev libgl2ps0 libglade2-0
libgtest-dev libgts-0.7-5 libgts-bin libgts-dev libhdf4-0-alt libhdf4-alt-dev libhdf5-10 libhdf5-cpp-11
libhdf5-dev libhdf5-mpi-dev libhdf5-openmpi-10 libhdf5-openmpi-dev libhwloc-dev libhwloc-plugins libhwloc5
libibverbs-dev libibverbs1 libignition-math2 libignition-math2-dev libinput-bin libinput-dev libjasper-dev
libjbig-dev libjs-jquery-ui libjsoncpp-dev libjxr0 libkmlbase1 libkmldom1 libkmlengine1 liblapack-dev
libldap2-dev liblinearmath2.83.6 liblog4cxx-dev liblog4cxx10-dev liblog4cxx10v5 liblz4-dev liblzma-dev
libminizip1 libmysqlclient-dev libmysqlclient20 libnetcdf-c++4 libnetcdf-cxx-legacy-dev libnetcdf-dev
libnetcdf11 libnuma-dev libodbc1 libogdi3.2 libogg-dev libogre-1.9-dev libogre-1.9.0v5 libopenjp2-7
libopenmpi-dev libopenmpi1.10 libopenni-dev libopenni-sensor-pointclouds0 libopenni0 libpcl-apps1.7
libpcl-common1.7 libpcl-dev libpcl-features1.7 libpcl-filters1.7 libpcl-io1.7 libpcl-kdtree1.7
libpcl-keypoints1.7 libpcl-octree1.7 libpcl-outofcore1.7 libpcl-people1.7 libpcl-recognition1.7
libpcl-registration1.7 libpcl-sample-consensus1.7 libpcl-search1.7 libpcl-segmentation1.7 libpcl-surface1.7
libpcl-tracking1.7 libpcl-visualization1.7 libpcl1.7 libpoco-dev libpococrypto9v5 libpocodata9v5
libpocofoundation9v5 libpocomysql9v5 libpoconet9v5 libpoconetssl9v5 libpocoodbc9v5 libpocosqlite9v5
libpocoutil9v5 libpocoxml9v5 libpocozip9v5 libpq-dev libproj-dev libproj9 libprotoc-dev libprotoc9v5
libpyside-py3-2.0 libpyside2-dev libpyside2.0 libqhull-dev libqhull7 libqt4-dev libqt4-dev-bin libqt4-help
libqt4-opengl-dev libqt4-scripttools libqt4-test libqt5clucene5 libqt5concurrent5 libqt5designer5
libqt5designercomponents5 libqt5help5 libqt5multimediaquick-p5 libqt5opengl5-dev libqt5quickparticles5
libqt5scripttools5 libqt5svg5-dev libqt5webkit5-dev libqt5x11extras5-dev libqt5xmlpatterns5
libqt5xmlpatterns5-dev libqt5xmlpatterns5-private-dev libqtwebkit-dev libsdformat4 libsdformat4-dev
libshiboken-py3-2.0 libshiboken2-dev libshiboken2.0 libsimbody-dev libsimbody3.5v5 libspatialite-dev
libspatialite7 libspnav0 libsuperlu4 libswresample-dev libswscale-dev libsz2 libtar-dev libtar0 libtbb-dev
libtheora-dev libtiff5-dev libtiffxx5 libtinyxml-dev libtinyxml2-2v5 libtinyxml2-dev liburdfdom-dev
liburdfdom-headers-dev liburdfdom-model-state0.4 liburdfdom-model0.4 liburdfdom-sensor0.4 liburdfdom-tools
liburdfdom-world0.4 liburiparser1 libusb-1.0-0-dev libusb-1.0-doc libvtk-java libvtk5.10 libvtk6-dev
libvtk6-java libvtk6-qt-dev libvtk6.2 libvtk6.2-qt libwebp-dev libwebpdemux1 libxerces-c-dev libxerces-c3.1
libxmu-dev libxmu-headers libyaml-cpp-dev libzzip-0-13 mpi-default-bin mpi-default-dev ocl-icd-libopencl1
odbcinst odbcinst1debian2 openmpi-bin openmpi-common openni-utils proj-bin proj-data pyqt5-dev python-attr
python-autobahn python-catkin-pkg python-catkin-pkg-modules python-chardet python-concurrent.futures
python-cycler python-defusedxml python-docutils python-ecdsa python-empy python-glade2 python-gobject-2
python-gtk2 python-imaging python-lz4 python-matplotlib python-matplotlib-data python-mpi4py python-msgpack
python-netifaces python-nose python-opengl python-pam python-paramiko python-pil python-pyasn1-modules
python-pydot python-pygments python-pyqt5 python-pyqt5.qtopengl python-pyqt5.qtsvg python-pyqt5.qtwebkit
python-pyside2 python-pyside2.qtconcurrent python-pyside2.qtcore python-pyside2.qtgui python-pyside2.qthelp
python-pyside2.qtnetwork python-pyside2.qtprintsupport python-pyside2.qtqml python-pyside2.qtquick
python-pyside2.qtquickwidgets python-pyside2.qtscript python-pyside2.qtsql python-pyside2.qtsvg
python-pyside2.qttest python-pyside2.qtuitools python-pyside2.qtwebkit python-pyside2.qtwebkitwidgets
python-pyside2.qtwidgets python-pyside2.qtx11extras python-pyside2.qtxml python-roman python-rosdep
python-rosdistro python-rosdistro-modules python-rospkg python-rospkg-modules python-serial
python-service-identity python-sip python-sip-dev python-snappy python-tk python-trollius python-twisted
python-twisted-bin python-twisted-core python-txaio python-vtk6 python-wxgtk3.0 python-wxtools python-wxversion
python-zope.interface qt4-linguist-tools qt4-qmake qt5-qmake qtbase5-dev qtbase5-dev-tools qtbase5-private-dev
qtdeclarative5-dev qtdeclarative5-private-dev qtmultimedia5-dev qtscript5-dev qtscript5-private-dev
qttools5-dev qttools5-dev-tools qttools5-private-dev ros-kinetic-actionlib ros-kinetic-actionlib-msgs
ros-kinetic-actionlib-tutorials ros-kinetic-angles ros-kinetic-bond ros-kinetic-bond-core ros-kinetic-bondcpp
ros-kinetic-bondpy ros-kinetic-camera-calibration ros-kinetic-camera-calibration-parsers
ros-kinetic-camera-info-manager ros-kinetic-catkin ros-kinetic-class-loader ros-kinetic-cmake-modules
ros-kinetic-collada-parser ros-kinetic-collada-urdf ros-kinetic-common-msgs ros-kinetic-common-tutorials
ros-kinetic-compressed-depth-image-transport ros-kinetic-compressed-image-transport ros-kinetic-control-msgs
ros-kinetic-cpp-common ros-kinetic-cv-bridge ros-kinetic-depth-image-proc ros-kinetic-desktop
ros-kinetic-desktop-full ros-kinetic-diagnostic-aggregator ros-kinetic-diagnostic-analysis
ros-kinetic-diagnostic-common-diagnostics ros-kinetic-diagnostic-msgs ros-kinetic-diagnostic-updater
ros-kinetic-diagnostics ros-kinetic-dynamic-reconfigure ros-kinetic-eigen-conversions
ros-kinetic-eigen-stl-containers ros-kinetic-executive-smach ros-kinetic-filters ros-kinetic-gazebo-dev
ros-kinetic-gazebo-msgs ros-kinetic-gazebo-plugins ros-kinetic-gazebo-ros ros-kinetic-gazebo-ros-pkgs
ros-kinetic-gencpp ros-kinetic-geneus ros-kinetic-genlisp ros-kinetic-genmsg ros-kinetic-gennodejs
ros-kinetic-genpy ros-kinetic-geometric-shapes ros-kinetic-geometry ros-kinetic-geometry-msgs
ros-kinetic-geometry-tutorials ros-kinetic-gl-dependency ros-kinetic-image-common ros-kinetic-image-geometry
ros-kinetic-image-pipeline ros-kinetic-image-proc ros-kinetic-image-publisher ros-kinetic-image-rotate
ros-kinetic-image-transport ros-kinetic-image-transport-plugins ros-kinetic-image-view
ros-kinetic-interactive-marker-tutorials ros-kinetic-interactive-markers ros-kinetic-joint-state-publisher
ros-kinetic-kdl-conversions ros-kinetic-kdl-parser ros-kinetic-laser-assembler ros-kinetic-laser-filters
ros-kinetic-laser-geometry ros-kinetic-laser-pipeline ros-kinetic-librviz-tutorial ros-kinetic-map-msgs
ros-kinetic-media-export ros-kinetic-message-filters ros-kinetic-message-generation ros-kinetic-message-runtime
ros-kinetic-mk ros-kinetic-nav-msgs ros-kinetic-nodelet ros-kinetic-nodelet-core
ros-kinetic-nodelet-topic-tools ros-kinetic-nodelet-tutorial-math ros-kinetic-octomap ros-kinetic-opencv3
ros-kinetic-orocos-kdl ros-kinetic-pcl-conversions ros-kinetic-pcl-msgs ros-kinetic-pcl-ros
ros-kinetic-perception ros-kinetic-perception-pcl ros-kinetic-pluginlib ros-kinetic-pluginlib-tutorials
ros-kinetic-polled-camera ros-kinetic-python-orocos-kdl ros-kinetic-python-qt-binding ros-kinetic-qt-dotgraph
ros-kinetic-qt-gui ros-kinetic-qt-gui-cpp ros-kinetic-qt-gui-py-common ros-kinetic-qwt-dependency
ros-kinetic-random-numbers ros-kinetic-resource-retriever ros-kinetic-robot ros-kinetic-robot-model
ros-kinetic-robot-state-publisher ros-kinetic-ros ros-kinetic-ros-base ros-kinetic-ros-comm
ros-kinetic-ros-core ros-kinetic-ros-tutorials ros-kinetic-rosbag ros-kinetic-rosbag-migration-rule
ros-kinetic-rosbag-storage ros-kinetic-rosbash ros-kinetic-rosboost-cfg ros-kinetic-rosbuild
ros-kinetic-rosclean ros-kinetic-rosconsole ros-kinetic-rosconsole-bridge ros-kinetic-roscpp
ros-kinetic-roscpp-core ros-kinetic-roscpp-serialization ros-kinetic-roscpp-traits ros-kinetic-roscpp-tutorials
ros-kinetic-roscreate ros-kinetic-rosgraph ros-kinetic-rosgraph-msgs ros-kinetic-roslang ros-kinetic-roslaunch
ros-kinetic-roslib ros-kinetic-roslint ros-kinetic-roslisp ros-kinetic-roslz4 ros-kinetic-rosmake
ros-kinetic-rosmaster ros-kinetic-rosmsg ros-kinetic-rosnode ros-kinetic-rosout ros-kinetic-rospack
ros-kinetic-rosparam ros-kinetic-rospy ros-kinetic-rospy-tutorials ros-kinetic-rosservice ros-kinetic-rostest
ros-kinetic-rostime ros-kinetic-rostopic ros-kinetic-rosunit ros-kinetic-roswtf ros-kinetic-rqt-action
ros-kinetic-rqt-bag ros-kinetic-rqt-bag-plugins ros-kinetic-rqt-common-plugins ros-kinetic-rqt-console
ros-kinetic-rqt-dep ros-kinetic-rqt-graph ros-kinetic-rqt-gui ros-kinetic-rqt-gui-cpp ros-kinetic-rqt-gui-py
ros-kinetic-rqt-image-view ros-kinetic-rqt-launch ros-kinetic-rqt-logger-level ros-kinetic-rqt-moveit
ros-kinetic-rqt-msg ros-kinetic-rqt-nav-view ros-kinetic-rqt-plot ros-kinetic-rqt-pose-view
ros-kinetic-rqt-publisher ros-kinetic-rqt-py-common ros-kinetic-rqt-py-console ros-kinetic-rqt-reconfigure
ros-kinetic-rqt-robot-dashboard ros-kinetic-rqt-robot-monitor ros-kinetic-rqt-robot-plugins
ros-kinetic-rqt-robot-steering ros-kinetic-rqt-runtime-monitor ros-kinetic-rqt-rviz
ros-kinetic-rqt-service-caller ros-kinetic-rqt-shell ros-kinetic-rqt-srv ros-kinetic-rqt-tf-tree
ros-kinetic-rqt-top ros-kinetic-rqt-topic ros-kinetic-rqt-web ros-kinetic-rviz
ros-kinetic-rviz-plugin-tutorials ros-kinetic-rviz-python-tutorial ros-kinetic-self-test
ros-kinetic-sensor-msgs ros-kinetic-shape-msgs ros-kinetic-simulators ros-kinetic-smach ros-kinetic-smach-msgs
ros-kinetic-smach-ros ros-kinetic-smclib ros-kinetic-stage ros-kinetic-stage-ros ros-kinetic-std-msgs
ros-kinetic-std-srvs ros-kinetic-stereo-image-proc ros-kinetic-stereo-msgs ros-kinetic-tf
ros-kinetic-tf-conversions ros-kinetic-tf2 ros-kinetic-tf2-eigen ros-kinetic-tf2-geometry-msgs
ros-kinetic-tf2-kdl ros-kinetic-tf2-msgs ros-kinetic-tf2-py ros-kinetic-tf2-ros
ros-kinetic-theora-image-transport ros-kinetic-topic-tools ros-kinetic-trajectory-msgs
ros-kinetic-turtle-actionlib ros-kinetic-turtle-tf ros-kinetic-turtle-tf2 ros-kinetic-turtlesim
ros-kinetic-urdf ros-kinetic-urdf-parser-plugin ros-kinetic-urdf-tutorial ros-kinetic-vision-opencv
ros-kinetic-visualization-marker-tutorials ros-kinetic-visualization-msgs ros-kinetic-visualization-tutorials
ros-kinetic-viz ros-kinetic-webkit-dependency ros-kinetic-xacro ros-kinetic-xmlrpcpp sbcl sdformat-sdf
shiboken2 sip-dev tango-icon-theme tcl-dev tcl-vtk6 tcl8.6-dev tk-dev tk8.6-blt2.5 tk8.6-dev ttf-bitstream-vera
ttf-liberation unixodbc unixodbc-dev uuid-dev vtk6
下列软件包将被升级：
cpp-5 g++-5 g++-5-multilib gcc-5 gcc-5-base gcc-5-base:i386 gcc-5-multilib lib32asan2 lib32atomic1
lib32cilkrts5 lib32gcc-5-dev lib32gomp1 lib32itm1 lib32mpx0 lib32quadmath0 lib32stdc++-5-dev lib32stdc++6
lib32ubsan0 libasan2 libatomic1 libcc1-0 libcilkrts5 libgcc-5-dev libgfortran3 libgomp1 libinput10 libitm1
liblsan0 libmpx0 libqt5core5a libqt5dbus5 libqt5gui5 libqt5network5 libqt5opengl5 libqt5printsupport5
libqt5sql5 libqt5test5 libqt5widgets5 libqt5xml5 libquadmath0 libstdc++-5-dev libstdc++6 libstdc++6:i386
libtsan0 libubsan0 libuuid1 libwacom-bin libwacom-common libwacom2 libx32asan2 libx32atomic1 libx32cilkrts5
libx32gcc-5-dev libx32gomp1 libx32itm1 libx32quadmath0 libx32stdc++-5-dev libx32stdc++6 libx32ubsan0
升级了 59 个软件包，新安装了 653 个软件包，要卸载 1 个软件包，有 394 个软件包未被升级。
需要下载 445 MB 的归档。
解压缩后会消耗 2,139 MB 的额外空间。
您希望继续执行吗？ [Y/n] YThis method of installation requires a lot of packages to be installed.
Desktop installation : ROS, rqt , rviz , universal robot library
sudo apt-get install ros-kinetic-desktopROS-Base (Bare Bones) : ROS package, construction and communication library. There are no GUI tools.
sudo apt-get install ros-kinetic-ros-baseStandalone package installation : It is possible to install a specific ROS package (replace "PACKAGE" in the command below with the actual package name).
sudo apt-get install ros-kinetic-PACKAGElike:
sudo apt-get install ros-kinetic-slam-gmappingTo find available packages you can use:
apt-cache search ros-kineticUsually when doing development, it is more convenient to use the desktop complete installation , which can install all the software packages that may be used at once. For actual machines, ROS-Base (Bare Bones) + independent packages are usually used for installation.
Initialize rosdep
Before using ROS, it needs to be initialized rosdep. rosdepThis allows you to simply install system dependencies for the source code you want to compile and the ROS core components you need to run.
sudo rosdep init
rosdep updateEnvironment settings
It would be very convenient if ROS environment variables could be automatically added to your bash session every time a new terminal is started. This can be achieved with the following command:
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrcIf you have multiple ROS distributions installed, you ~/.bashrcmust only install sourcethe one you are currently using setup.bash.
If you only want to modify the environment of the current shell, enter the following command to replace the above command:
source /opt/ros/kinetic/setup.bashDependencies required to build the package
At this point, you should have everything installed to run the core ROS packages. To create and manage your own ROS workspace, there are many tools released separately. For example, rosinstall is a commonly used command line tool that allows you to simply download many source trees for ROS packages with a single command.
To install this tool and other dependencies to build ROS packages, run:
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essentialAfter completing the complete ROS installation, you can do a simple test of the installation. You can test it with roscoreand .turtlesim
roscoreThe test is as follows:
$ roscore
... logging to /home/hanpfei0306/.ros/log/3e61b674-03cf-11e8-ac54-9cb70ddc3658/roslaunch-hanpfei0306-31481.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://hanpfei0306:44979/
ros_comm version 1.12.12
SUMMARY
========
PARAMETERS
* /rosdistro: kinetic
* /rosversion: 1.12.12
NODES
auto-starting new master
process[master]: started with pid [31495]
ROS_MASTER_URI=http://hanpfei0306:11311/
setting /run_id to 3e61b674-03cf-11e8-ac54-9cb70ddc3658
process[rosout-1]: started with pid [31508]
started core service [/rosout]turtlesimThe test is as follows:
Note turtlesimthat the running of depends on roscorethe running of , so the test turtlesimneeds to run at the same time roscore.
Reference document
ROS Distributions
Ubuntu install of ROS Kinetic
Done.