Original Address :: https://blog.csdn.net/weixin_40038847/article/details/82020565
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Speaking of ROS, we may now have more or less understood. Now the rapid development of the world's robots like the computer industry as a few decades ago, the robot gradually into millions of households, large industrial robots, small home service robots, a wide range required for a variety of people's lives the robot development of computer technology-based robot also springing up. The robot can be divided into two large main directions of hardware and software layers. Each type of robot will need to be prepared in accordance with the actual situation of the hardware features users need, and gradually it was found that such a robot is very low code reuse rate, which greatly hindered the development of robots. Therefore, ROS is the code for the robot development process of multiplexing support .ROS is Robot Operating Syetem (Robot Operating System) for short .ROS started in 2007, supports projects in the Stanford AI Robot Artificial Intelligence Laboratory at Stanford University developed under the ROS. From the first edition of ROS Box Turtle 2010 Nian 3 Communications Sunday so far (as of August 2018) has 12 versions. Three long-term support version, and corresponds to the three LTS versions of Ubuntu are as follows:
ROS version release date as of support time corresponding Ubuntu version of the
ROS Indigo 2014 July 22, April 2019 Ubuntu 14.04
ROS Kinetic 2016 May 23 April 2021 Ubuntu 16.04
ROS Melodic 2018 May 23 April 2023 18.04 Ubuntu
ROS supports Python, C ++, JAVA and other programming languages. Because ROS primarily supports the Ubuntu operating system, so this tutorial is installed in Ubuntu system. Here the comparison recommend Ubuntu system installation or a Windows dual system, which makes it easier to learn the next ROS ROS as we explain in detail the installation.
A, Ubuntu installation: Ubuntu 18.04 is now the latest version. The relatively more stable, more learning and reference Bowen is 16.04 version. Attached below the Ubuntu mirroring .https 16.04: //mirrors.tuna.tsinghua .edu.cn / help / ubuntu /. It should be noted that the need to select the version of 16.04. Here to give you a more detailed system installed under Windows blog https://www.baidu.com/s?cl= 3 & wd = ubuntu% 20Windows% CB% AB% CF% B5% CD% B3.
Two, Ubuntu the system installed, install our next enters today to the question ROS system.
Ubuntu system configuration [1]
First into the Ubuntu system settings, or press the search key to winning software updates adverbial clause: and open. The universe, restericted, muitiverse are checked, the same should be noted that, if your computer has been over the wall, then there is no need to download from the Yuan changed. If not, the best source software into China, because such software after downloading speed will be much faster.
Next, open a terminal, press the shortcut key is Ctrl + Alt + T key.
[2] Configuration of the sources.list
Computer software can be set to receive from the ROS.org website.
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $ (lsb_release -sc) ma
[3] setting key
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
【4】安装
Ubuntu's command to install the software in the terminal is the apt-get.
First redirect server ROS
sudo apt-get update
Then install the full version of the desktop ROS system.
sudo apt-get install ros-kinetic -desktop-full
here is the kinetic energy release of ROS.
[5] Initialization rosdep
Before using the ROS, you must be installed and initialized rosdep command-line tool. It will allow you to easily install the library and then to rely on the system's source code. At the same time, ROS some of the core components also need rosdep, therefore rosdep installed by default in the ROS. You can use the following command to install and initialize rosdep.
rosdep the init sudo
rosdep UPDATA
[6] environment settings
At this point, you have successfully installed the ROS system. But in order each time you open a new terminal without executing scripts to configure the environment variables, you need to add a script at the end of the script file .bashrc in, use the following command to complete.
echo "source /opt/ros/kinetic/setup.bash" >> ~ / .bashrc
if the configuration to take effect, you must use the following command to execute the file
source ~ / .bashrc
[7] mounted rosinstall
rosinstall. It is a commonly used command-line tool, so you can use a number of command source tree easily download a package of ROS Enter the following command to install this tool:
sudo apt-get install python-rosinstall
point, you have a more complete ROS system is installed on the computer. I believe that you've been eager to want to run at the ROS system. But you did not find searched the Desktop called "ROS" software course. , ROS is to rely on the system to run the terminal. So it needs to open the terminal. We are here to demonstrate a basic case --turtlrsim small turtles. Run the following command you can see a small turtle interface. Explain the meaning and the associated command will give you specific details in a later tutorial.
roscore
rosrun turtlrsimn turtlesim_node
here to add at the top of the second line of command need to open a new terminal to enter, because you will find that when the input terminal is unable to enter a valid command roscore run to run.
You will find your little turtle might be different from mine, it does not matter, because there are a lot of official variety of small turtles in this case, after learning you will find. So how to use the keyboard is a small turtle in motion it? You need to enter the following command.
rosrun turtlesim turtle_teleop_key
this you can use the keyboard arrow keys to operate the turtles!
All right! So far, you have the first case of ROS ROS system is successfully installed and running. Then stand up, Events and rest. In the next days I will slowly learn, and to record their own learning process, I hope for your help.
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Disclaimer: This article is the original article CSDN bloggers "Shi Huo De float", and follow CC 4.0 BY-SA copyright agreement, reproduced, please attach the original source link and this statement.
Original link: https: //blog.csdn.net/weixin_40038847/article/details/82020565
