Ubuntu18.04 installs ROS system + turtle test

Install

1.Set the installation source

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

2.Set key

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

3.Installation

sudo apt update
sudo apt install ros-melodic-desktop-full
//tips：ubuntu18安装melodic；ubuntu20是noetic
//卸载命令：sudo apt remove ros-noetic-*

 

//解决
sudo mv /var/lib/dpkg/info /var/lib/dpkg/info.bk
sudo mkdir /var/lib/dpkg/info
sudo apt-get update
sudo apt-get install -f
sudo apt-get install ros-melodic-desktop-full

 

4. Configure environment variables

//ubuntu20版本
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
//ubuntu18版本
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc

5. Install build dependencies

sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
sudo apt install python3-rosdep

 

6.Initialization

sudo rosdep init
rosdep update

rosdep exception solution:

1. Enter "/usr/lib/python3/dist-packages/" to find content related to raw.githubusercontent.com in rosdep and call the command:

find . -type f | xargs grep "raw.githubusercontent"

 

2. Modify the contents of four files

sudo gedit /rosdistro/__init__.py
sudo gedit ./rosdep2/gbpdistro_support.py
sudo gedit ./rosdep2/sources_list.py
sudo gedit ./rosdep2/rep3.py

文件中涉及的 URL 内容，如果是:raw.githubusercontent.com/ros/rosdistro/master都替换成步骤1中准备的gitee.com/zhao-xuzuo/rosdistro/raw/master即可。

3. Re-sudo rosdep init+rosdep update

If you encounter this, it means the modification was successful.

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Turtle test

ROS has some built-in small programs that can be run to check whether the ROS environment can run normally.

1. First start three command lines (ctrl + alt + T)

2. Command line 1 type:roscore

3. Command line 2 type:rosrun turtlesim turtlesim_node(The graphical interface will pop up)

4. Command line 3 type:rosrun turtlesim turtle_teleop_key(In 3, you can control the movement of the turtle in 2 by up, down, left and right)