ubuntu16.04初安装，ROS kinetic，安装ros，配置ros环境

港控/mmm° 2022-08-31 01:45 293阅读 0赞

# 建议使用阿里云提供的ubuntu16.04的镜像安装ubuntu系统，用其它镜像可能会安装不上ros #

## 一、下载并安装Ubuntu16.04.6 ##

1.  阿里云下载ubuntu系统官方镜像；（阿里云的此镜像我已验证可顺利安装ros）
2.  [Index of /ubuntu-releases/16.04/][Index of _ubuntu-releases_16.04]![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70][]

安装ubuntu：参考我的博客 [联想拯救者Legion Y7000P 2020款(10代INTEL+GTX1650)安装ubuntu16.04(双系统)\_苏凯的博客-CSDN博客][Legion Y7000P 2020_10_INTEL_GTX1650_ubuntu16.04_-CSDN]

# ROS Kinectic安装 #

### 1. 添加ROS的镜像源: ###

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. 配置密钥 ###

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

如果以上服务器在连接过程中存在问题，可以用以下两个备选地址:

hkp://pgp.mit.edu:80

hkp://keyserver.ubuntu.com:80

### 3. 更新Ubuntu的源 ###

sudo apt-get update

### 4. 安装ROS kinetic ###

sudo apt-get install ros-kinetic-desktop-full

## ROS初始化 ##

### 1. 初始化rosdep ###

sudo rosdep init
    rosdep update

### 2. 配置全局环境变量 ###

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

### 3. 安装打包工具依赖 ###

sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential

## 安装错误处理 ##

### 1. 源错误 ###

E: Failed to fetch http://45.252.224.77/files/2116000007703A52/packages.ros.org/ros/ubuntu/dists/xenial/main/binary-amd64/Packages.gz  
    E: Failed to fetch http://45.252.224.79/files/111600000609586B/mirrors.ustc.edu.cn/ros/ubuntu/dists/xenial/main/binary-i386/Packages.gz  Hash Sum mismatch
    E: Some index files failed to download. They have been ignored, or old ones used instead.

通常在安装过程中会出现 Hash Sum mismatch，这个时候，建议修改Ubuntu操作系统的软件源为http://mirrors.ustc.edu.cn。保证ros的源和ubuntu的源一致，规避掉hash校验的错误。

### 2. rosdep错误 ###

*  建议多尝试几次，直到成功。
 *  如果不行，建议全局代理翻墙

## 测试安装 ##

通过命令启动Ros Master

roscore

启动命令后，会有以下日志打印

... logging to /home/itheima/.ros/log/970b7818-77d3-11e9-a2e4-000c2948d957/roslaunch-ubuntu-9693.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://ubuntu:44075/
    ros_comm version 1.12.14
    
    
    SUMMARY
    ========
    
    PARAMETERS
     * /rosdistro: kinetic
     * /rosversion: 1.12.14
    
    NODES
    
    auto-starting new master
    process[master]: started with pid [9708]
    ROS_MASTER_URI=http://ubuntu:11311/
    
    setting /run_id to 970b7818-77d3-11e9-a2e4-000c2948d957
    process[rosout-1]: started with pid [9725]
    started core service [/rosout]

**3.安装其它依赖及软件**

更新命令

sudo apt-get update
    sudo apt-get upgrade
    sudo apt-get dist-upgrade
    sudo apt-get -f install

ros中添加qt 增加Qt5SerialPor库

sudo apt-get install ros-$ROS_DISTRO-qt-create
    sudo apt-get install ros-$ROS_DISTRO-qt-build
    sudo apt install libqt5serialport5-dev
    sudo apt-get install libqt5multimedia5-plugins 
    sudo apt-get install sqlitebrowser
    sudo apt-get install ros-$ROS_DISTRO-navigation
    sudo apt-get install ros-$ROS_DISTRO-serial
    sudo apt-get install ros-$ROS_DISTRO-libuvc
    sudo apt-get install ros-$ROS_DISTRO-tf2-sensor-msgs
    sudo apt-get install ros-$ROS_DISTRO-control-toolbox
    sudo apt-get install ros-$ROS_DISTRO-ecl-threads
    sudo apt install pcl-tools
    sudo apt-get install -y patchelf
    sudo apt-get install libxcb-xinerama0
    sudo apt install aria2
    sudo apt install net-tools

ubuntu控制台 终端

terminator安装

sudo apt-get install terminator

`图像转svg`

sudo apt install potrace

sudo apt-get install rar
    sudo apt install gimp
    u盘
    sudo apt-get install exfat-fuse

安装：apt-get install p7zip-full
    
    解压7z：使用方法：7z x file file是你要解压的文件名。
    
    解压tar.bz2: sudo tar -jxvf file.tar.bz2。
    
    解压tar: sudo tar -zxvf file.tar。

.bashrc

source /opt/ros/kinetic/setup.bash
    export TURTLEBOT3_MODEL=waffle
    
    export CAMERA_TYPE=astrapro
    #export CAMERA_TYPE=astrapro
    export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/3rdparty/ORB_SLAM2/Examples/ROS
    
    
    alias sd='source devel/setup.sh'
    ## 编译ros项目时要注释掉 /home/iimt/.bashrc 以下3条;打包项目时需要打开注释
    #export PATH=/home/iimt/3rdparty/qt/bin:$PATH
    #export LIB_PATH=/home/iimt/3rdparty/qt/lib:$LIB_PATH
    #export PLUGIN_PATH=/home/iimt/3rdparty/qt/plugins:$PLUGIN_PATH
    
    ##export QML2_PATH=/home/maoypeng/Applications/Qt5.1.1/5.1.1/gcc/qml:$QML2_PATH
    
    export ROS_HOSTNAME=127.0.0.1
    export ROS_MASTER_URI=http://127.0.0.1:11311  
    # linuxdeployqt打包，编译问题
    #export LD_LIBRARY_PATH=/home/iimt/Qt5.9.9/5.9.9/gcc_64/lib

安装qtcreate

[在Ubuntu下搭建Qt开发环境和Qt creator\_花花的博客-CSDN博客][Ubuntu_Qt_Qt creator_-CSDN]

[ROS与C++入门教程-搭建开发环境(QT+ros\_qtc\_plugin) - 创客智造][ROS_C_-_QT_ros_qtc_plugin_ -]

[Index of /][Index of]

下载qt ：  [Index of /archive/qt/5.9/5.9.9][Index of _archive_qt_5.9_5.9.9]

cd /usr/lib/x86_64-linux-gnu/qt-default/qtchooser 
    sudo gedit default.conf 
    
    sudo gedit /usr/lib/x86_64-linux-gnu/qt-default/qtchooser/default.conf

sudo gedit /usr/lib/x86\_64-linux-gnu/qt-default/qtchooser/default.conf

/home/iimt/Qt5.12.11/5.12.11/gcc\_64/bin  
/home/iimt/Qt5.12.11/5.12.11/

/home/iimt/Qt5.9.9/5.9.9/gcc\_64/bin  
/home/iimt/Qt5.9.9/5.9.9/

/home/iimt/3rdparty/qt/bin  
/home/iimt/3rdparty/qt/

安装**ros\_qtc\_plugin**插件

[Ubuntu18安装 ros-qtc-plugin并在qt中配置ros环境\_mhrobot的博客-CSDN博客][Ubuntu18_ ros-qtc-plugin_qt_ros_mhrobot_-CSDN]

[How to Install (Users) — ROS Qt Creator Plug-in documentation][How to Install _Users_ _ ROS Qt Creator Plug-in documentation]

sudo add-apt-repository ppa:levi-armstrong/qt-libraries-trusty
    sudo add-apt-repository ppa:levi-armstrong/ppa  
    sudo apt-get update && sudo apt-get install qt57creator-plugin-ros

sudo gedit /usr/bin/qtcreator
    
    #!/bin/sh
    export QT_HOME=/home/iimt/Qt5.9.9/Tools/QtCreator/bin
    $QT_HOME/qtcreator $*
    
    sudo chmod 777 /usr/bin/qtcreator
    
    启动 ： qtcreator

**设置快捷方式**

gedit ~/.local/share/applications/DigiaQtOpenSource-qtcreator.desktop

[Desktop Entry]
    Type=Application
    Exec=bash -i -c /home/iimt/Qt5.9.9/Tools/QtCreator/bin/qtcreator
    Name=Qt Creator (Community)
    GenericName=The IDE of choice for Qt development.
    Icon=QtProject-qtcreator
    Terminal=false
    Categories=Development;IDE;Qt;
    MimeType=text/x-c++src;text/x-c++hdr;text/x-xsrc;application/x-designer;application/vnd.qt.qmakeprofile;application/vnd.qt.xml.resource;text/x-qml;text/x-qt.qml;text/x-qt.qbs;

## cp ~/.local/share/applications/DigiaQtOpenSource-qtcreator.desktop ~/.local/share/applications/ ##

##  ##

## sudo cp ~/.local/share/applications/DigiaQtOpenSource-qtcreator.desktop  /usr/share/applications/ ##

##  ##

## linuxdeployqt打包，编译问题 ##

[KylinV10上qt5.9开发应用打包步骤（四）--linuxdeployqt源码编译\_WenCoo的博客-CSDN博客][KylinV10_qt5.9_--linuxdeployqt_WenCoo_-CSDN]

export LD\_LIBRARY\_PATH=/home/iimt/Qt5.9.9/5.9.9/gcc\_64/lib

安装opengl
    sudo apt-get update
    sudo apt-get -f install
    安装opengl
    sudo apt install mesa-common-dev
    
    安装opengl
    sudo apt-get install libgl1-mesa-dev
    
    安装opengl
    sudo apt-get install mesa-common-dev
    sudo apt-get install libgl1-mesa-dev libglu1-mesa-dev
    
    
    sudo apt install cmake

永久指定安装源

每次临时指定源地址比较麻烦，可以通过以下方式配置永久源

在主目录创建.pip文件夹

mkdir ~/.pip  
编写~/.pip/pip.conf

已复制  
sudo gedit ~/.pip/pip.conf  
并添加以下内容

[global]
    trusted-host=pypi.douban.com
    index-url=https://mirrors.aliyun.com/pypi/simple/
    timeout=6000

此时，默认pip install xxx已经可以自动走镜像地址， 但是sudo模式下的pip和pip3并不能使用此镜像。所以要把这个pip.conf复制到/root/.pip目录下

sudo mkdir -p /root/.pip
    sudo cp ~/.pip/pip.conf /root/.pip/

可用的源有:

清华大学：https://pypi.tuna.tsinghua.edu.cn/simple 
    阿里云：http://mirrors.aliyun.com/pypi/simple/ 
    中国科技大学 https://pypi.mirrors.ustc.edu.cn/simple/ 
    华中理工大学：http://pypi.hustunique.com/ 
    山东理工大学：http://pypi.sdutlinux.org/ 
    豆瓣：https://pypi.douban.com/simple/

https://blog.csdn.net/weixin_38815609/article/details/102854144
    查看内核版本号的方法是：
    打印一个终端，输入命令uname -r
    
    dpkg --get-selections | grep linux-image查看内核安装情况
    并使用sudo apt-get purge linux-image-4.15.0-62-generic等命令卸载版本比较老的内核，保留1-2个内核即可 。

内核下载地址

[Index of /~kernel-ppa/mainline][Index of _kernel-ppa_mainline]

64位的下载：1,2,3,4,6

以下 【必须安装的四个软件包】不出问题就不要安装

ubuntu16.04 内核升级必须安装的四个软件包

[ubuntu16.04 内核升级必须安装的四个软件包\_文影惊涛的技术博客\_51CTO博客][ubuntu16.04 _51CTO]

sudo aptitude install libncurses5-dev libssl-dev
    sudo aptitude install build-essential openssl
    sudo aptitude install zlibc minizip
    sudo aptitude install libidn11-dev libidn11

查看当前gcc版本 gcc -v  
安装 gcc g++

sudo apt install build-essential

没有特殊情况不要安装 grub

sudo apt-get install grub
    sudo apt-get --reinstall install grub-pc

[解决systemback 无法生成超过4G的iso的问题\_君子性非异-CSDN博客][systemback _4G_iso_-CSDN] 制作镜像

**1.解压.sblive文件**

cd /home
    sudo mkdir sblive
    
    tar -xf /home/systemback_live_2016-04-27.sblive -C sblive

sudo tar -xf systemback_live_2021-07-24.sblive -C sblive/
    sudo mv sblive/syslinux/syslinux.cfg sblive/syslinux/isolinux.cfg
    sudo mv sblive/syslinux sblive/isolinux

**安装cdtools**

aria2c -s 10 https://nchc.dl.sourceforge.net/project/cdrtools/alpha/cdrtools-3.02a07.tar.gz
    
    （此步骤可能下载失败，解决办法是直接浏览器打开此链接下载https://nchc.dl.sourceforge.net/project/cdrtools/alpha/cdrtools-3.02a07.tar.gz，再拷贝至Ubuntu即可）
    
    tar -xzvf cdrtools-3.02a07.tar.gz
    
    cd cdrtools-3.02
    
    make
    
    make install

**生成 ISO 文件**

回到sblive所在目录：

sudo /opt/schily/bin/mkisofs -iso-level 3 -r -V sblive -cache-inodes -J -l -b isolinux/isolinux.bin -no-emul-boot -boot-load-size 4 -boot-info-table -c isolinux/boot.cat -o sblive.iso sblive

[Index of _ubuntu-releases_16.04]: http://mirrors.aliyun.com/ubuntu-releases/16.04/
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70]: /images/20220829/2655af1e0323497aa7622f60ac709ad8.png
[Legion Y7000P 2020_10_INTEL_GTX1650_ubuntu16.04_-CSDN]: https://blog.csdn.net/qq_15204179/article/details/119000914
[Ubuntu_Qt_Qt creator_-CSDN]: https://blog.csdn.net/m0_37688984/article/details/80216123
[ROS_C_-_QT_ros_qtc_plugin_ -]: https://www.ncnynl.com/archives/201701/1277.html
[Index of]: https://download.qt.io/
[Index of _archive_qt_5.9_5.9.9]: https://download.qt.io/archive/qt/5.9/5.9.9/
[Ubuntu18_ ros-qtc-plugin_qt_ros_mhrobot_-CSDN]: https://blog.csdn.net/qq_36458461/article/details/109804075
[How to Install _Users_ _ ROS Qt Creator Plug-in documentation]: https://ros-qtc-plugin.readthedocs.io/en/latest/_source/How-to-Install-Users.html
[KylinV10_qt5.9_--linuxdeployqt_WenCoo_-CSDN]: https://blog.csdn.net/bootleader/article/details/116244008
[Index of _kernel-ppa_mainline]: https://kernel.ubuntu.com/~kernel-ppa/mainline/
[ubuntu16.04 _51CTO]: https://blog.51cto.com/nettao/2350243
[systemback _4G_iso_-CSDN]: https://blog.csdn.net/qq_41248872/article/details/86659373