ROS总结——Indigo安装

在Ubuntu 14.04中安装ROS Indigo

本博客是对http://wiki.ros.org/上ROS教程的学习总结，欢迎大家交流学习。

1.配置软件仓库

在软件和更新中，配置Ubuntu 软件仓库(repositories) 以允许 “restricted”、”universe” 和 “multiverse”这三种安装模式。

2.添加 sources.list及keys

ROS Indigo 仅支持 Saucy (13.10) 和 Trusty (14.04)，执行下面命令(如果网速不好，自行更改国内外镜像)：

$  sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
$  sudo apt-key adv --keyserver hkp://pool.sks-keyservers.net --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

3.安装

执行下面命令进行安装：

$  sudo apt-get update

ROS中有很多各种函数库和工具，提供了四种安装方式:桌面完整版安装、桌面版安装、基础版安装、单个软件包安装，下面分别对应各自的安装命令：

$  sudo apt-get install ros-indigo-desktop-full

$  sudo apt-get install ros-indigo-desktop

$  sudo apt-get install ros-indigo-ros-base

$  sudo apt-get install ros-indigo-PACKAGE
eg:
$  sudo apt-get install ros-indigo-slam-gmapping

要查找可用软件包，请运行：

$  apt-cache search ros-indigo

4.初始化 rosdep及环境设置

$  sudo rosdep init
$  rosdep update

在~/.bashrc文件，写入下面命令

source /opt/ros/indigo/setup.bash

5.安装 rosinstall

rosinstall 是ROS中一个独立分开的常用命令行工具，可以通过一条命令就给某个ROS软件包下载很多源码树，其安装命令：

$  sudo apt-get install python-rosinstall

6.验证Indigo是否安装成功

执行命令roscore，测试是否安装成功，如果安装成功，测试效果如下：

$  roscore
... logging to /home/yongqiang/.ros/log/285bd20a-0345-11e7-b3dc-dc0ea16e8f33/roslaunch-ubuntu-9088.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://localhost:56483/ ros_comm version 1.11.20

SUMMARY
========

PARAMETERS
* /rosdistro: indigo
* /rosversion: 1.11.20

NODES

auto-starting new master
process[master]: started with pid [9100]
ROS_MASTER_URI=http://localhost:11311/

setting /run_id to 285bd20a-0345-11e7-b3dc-dc0ea16e8f33
process[rosout-1]: started with pid [9113]
started core service [/rosout]

如果出现这种情况：

... logging to /home/yongqiang/.ros/log/9f81acce-0345-11e7-a020-dc0ea16e8f33/roslaunch-ubuntu-9323.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.

Unable to contact my own server at [http://ubuntu:37948/].
This usually means that the network is not configured properly.

A common cause is that the machine cannot ping itself.  Please check
for errors by running:

ping ubuntu

For more tips, please see
 http://www.ros.org/wiki/ROS/NetworkSetup 
The traceback for the exception was written to the log file

检查.bashrc中的

source /opt/ros/indigo/setup.bash

是否在export的后面以及配置ros地址:

$  export ROS_HOSTNAME=localhost
$  export ROS_MASTER_URI=http://localhost:11311