Ubuntu20.04配置安装ros并简单运行详细步骤

梦里梦外; 2022-06-16 10:19 749阅读 0赞

**1.更新apt源为国内源(已更新的忽略，以阿里源为例）**

1.1 备份原文件

sudo cp /etc/apt/sources.list /etc/apt/sources.list.bat

1.2 查看版本代号

lsb_release -c

1.3 每个版本对应的代号如下：

Ubuntu 15.04 代号为：vivid

Ubuntu 16.04代号为：xenial

Ubuntu 17.04代号为：zesty

Ubuntu 18.04代号为：bionic

Ubuntu 19.04代号为：disco

Ubuntu 20.04代号为：noetic

1.4 编辑sources.list文件

sudo vim /etc/apt/sources.list

原始的sources.list内容为：

#deb cdrom:[Ubuntu 20.04.2.0 LTS _Focal Fossa_ - Release amd64 (20210209.1)]/ focal main restricted
    
    # See http://help.ubuntu.com/community/UpgradeNotes for how to upgrade to
    # newer versions of the distribution.
    deb http://cn.archive.ubuntu.com/ubuntu/ focal main restricted
    # deb-src http://cn.archive.ubuntu.com/ubuntu/ focal main restricted
    
    ## Major bug fix updates produced after the final release of the
    ## distribution.
    deb http://cn.archive.ubuntu.com/ubuntu/ focal-updates main restricted
    # deb-src http://cn.archive.ubuntu.com/ubuntu/ focal-updates main restricted
    
    ## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu
    ## team. Also, please note that software in universe WILL NOT receive any
    ## review or updates from the Ubuntu security team.
    deb http://cn.archive.ubuntu.com/ubuntu/ focal universe
    # deb-src http://cn.archive.ubuntu.com/ubuntu/ focal universe
    deb http://cn.archive.ubuntu.com/ubuntu/ focal-updates universe
    # deb-src http://cn.archive.ubuntu.com/ubuntu/ focal-updates universe
    
    ## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu 
    ## team, and may not be under a free licence. Please satisfy yourself as to 
    ## your rights to use the software. Also, please note that software in 
    ## multiverse WILL NOT receive any review or updates from the Ubuntu
    ## security team.
    deb http://cn.archive.ubuntu.com/ubuntu/ focal multiverse
    # deb-src http://cn.archive.ubuntu.com/ubuntu/ focal multiverse
    deb http://cn.archive.ubuntu.com/ubuntu/ focal-updates multiverse
    # deb-src http://cn.archive.ubuntu.com/ubuntu/ focal-updates multiverse
    
    ## N.B. software from this repository may not have been tested as
    ## extensively as that contained in the main release, although it includes
    ## newer versions of some applications which may provide useful features.
    ## Also, please note that software in backports WILL NOT receive any review
    ## or updates from the Ubuntu security team.
    deb http://cn.archive.ubuntu.com/ubuntu/ focal-backports main restricted universe multiverse
    # deb-src http://cn.archive.ubuntu.com/ubuntu/ focal-backports main restricted universe multiverse
    
    ## Uncomment the following two lines to add software from Canonical's
    ## 'partner' repository.
    ## This software is not part of Ubuntu, but is offered by Canonical and the
    ## respective vendors as a service to Ubuntu users.
    # deb http://archive.canonical.com/ubuntu focal partner
    # deb-src http://archive.canonical.com/ubuntu focal partner
    
    deb http://security.ubuntu.com/ubuntu focal-security main restricted
    # deb-src http://security.ubuntu.com/ubuntu focal-security main restricted
    deb http://security.ubuntu.com/ubuntu focal-security universe
    # deb-src http://security.ubuntu.com/ubuntu focal-security universe
    deb http://security.ubuntu.com/ubuntu focal-security multiverse
    # deb-src http://security.ubuntu.com/ubuntu focal-security multiverse
    
    # This system was installed using small removable media
    # (e.g. netinst, live or single CD). The matching "deb cdrom"
    # entries were disabled at the end of the installation process.
    # For information about how to configure apt package sources,
    # see the sources.list(5) manual.

更新为阿里源后的sources.list内容：

deb http://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiverse
    deb-src http://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiverse
    deb http://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiverse
    deb-src http://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiverse
    deb http://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiverse
    deb-src http://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiverse
    deb http://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse
    deb-src http://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse
    deb http://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiverse
    deb-src http://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiverse

修改完毕后保存退出。

1.5 更新软件列表

sudo apt-get update
    sudo apt-get upgrade

**2.配置ros**

2.1 添加sources.list

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

2.2 添加keys

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

2.3 更新

sudo apt update

2.4 安装桌面完整版 : 包含ROS、rqt、rviz、机器人通用库、2D/3D 模拟器、导航以及2D/3D感知。(注意：根据不同linux版本安装不同的ros，ubuntu20.04对应noetic,其余版本自行修改下面代码。

sudo apt install ros-noetic-desktop-full

2.5 您必须在使用ROS的每个bash终端中获取此脚本的源代码。

source /opt/ros/noetic/setup.bash

2.6 环境配置

echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
    source ~/.bashrc

2.7 查看环境配置

env | grep ROS

**3.小海龟测试**

小海龟测试需要依次打开三个**新的**命令行窗口：

窗口1：打开新窗口快捷键：Ctrl + Alt +T

roscore

窗口2：此时会跳出一个TurtleSim 小乌龟的控制窗口

rosrun turtlesim turtlesim_node

窗口3：

调用键盘控制。使用键盘方向键对小海龟进行控制。

切记，鼠标光标一定要聚焦在下方的3窗口中，方能通过键盘控制乌龟动起来哦

rosrun turtlesim turtle_teleop_key

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80Mzk3MDc0Mw_size_16_color_FFFFFF_t_70][]

实操键盘方向键，如下演示：

![20210406171549360.gif][]

文章参考：

[Ubuntu20.04下 Ros -Noetic安装 并进行小海龟测试\_richardpark的博客-CSDN博客][Ubuntu20.04_ Ros -Noetic_ _richardpark_-CSDN]

[在Ubuntu20.04中安装ROS Noetic\_华青水上的博客-CSDN博客\_ubuntu20.04安装ros][Ubuntu20.04_ROS Noetic_-CSDN_ubuntu20.04_ros]

[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80Mzk3MDc0Mw_size_16_color_FFFFFF_t_70]: /images/20220616/7536ed104b784d789833c623fe04ec04.png
[20210406171549360.gif]: /images/20220616/cc54b1e1b23d4e659cf518f3bb04c240.png
[Ubuntu20.04_ Ros -Noetic_ _richardpark_-CSDN]: https://blog.csdn.net/richardpark/article/details/109066841
[Ubuntu20.04_ROS Noetic_-CSDN_ubuntu20.04_ros]: https://blog.csdn.net/r1141207831/article/details/106327172/