在Ubuntu中安装ROS操作系统

添加安装源

sudo sh -c ‘. /etc/lsb-release && echo “deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main” > /etc/apt/sources.list.d/ros-latest.list’

添加秘钥

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

安装系统

sudo apt update
sudo apt install ros-melodic-desktop-full --fix-missing

初始化

sudo rosdep init
rosdep update

环境配置

echo “source /opt/ros/melodic/setup.bash” >> ~/.bashrc
source ~/.bashrc
source /opt/ros/melodic/setup.bash
echo “source /opt/ros/melodic/setup.zsh” >> ~/.zshrc
source ~/.zshrc

构建依赖

sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential rosbash rospack-tools

启动系统

roscore

运行测试程序

打开四个ternimal标签分别运行以下命令：

roscore
rosrun turtlesim turtlesim_node
rosrun rqt_graph rqt_graph
rosrun turtlesim turtle_teleop_key