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http://wiki.ros.org/kinetic/Installation/Ubuntu
Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse." You canfollow the Ubuntu guide for instructions on doing this.
這一步可以搜索software&updates,打開,可以看到相關的設置之前打了對夠。或者cat /etc/apt/sources.list会看到类似以下的字眼,后面会接著universe multiverse等字
一般可忽略。
Setup your computer to accept software from packages.ros.org. ROS KineticONLY supports Wily (Ubuntu 15.10), Xenial (Ubuntu 16.04) and Jessie (Debian 8) for debian packages.
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
Source Debs are also available |
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 0xB01FA116
First, make sure your Debian package index is up-to-date:
sudo apt-get update
There are many different libraries and tools in ROS. We provided four default configurations to get you started. You can also install ROS packages individually.
In case of problems with the next step, you can use following repositories instead of the ones mentioned aboveros-shadow-fixed
Desktop-Full Install: (Recommended) : ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception
sudo apt-get install ros-kinetic-desktop-full
or click here
Desktop Install: ROS, rqt, rviz, and robot-generic libraries
sudo apt-get install ros-kinetic-desktop
or click here
ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools.
sudo apt-get install ros-kinetic-ros-base
or click here
Individual Package: You can also install a specific ROS package (replace underscores with dashes of the package name):
sudo apt-get install ros-kinetic-PACKAGEe.g.
sudo apt-get install ros-kinetic-slam-gmapping
To find available packages, use:
apt-cache search ros-kinetic
Before you can use ROS, you will need to initialize rosdep. rosdep enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS.
sudo rosdep init
rosdep update
It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched:
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
If you have more than one ROS distribution installed, ~/.bashrc must only source the setup.bash for the version you are currently using.
If you just want to change the environment of your current shell, instead of the above you can type:
source /opt/ros/kinetic/setup.bash
rosinstall is a frequently used command-line tool in ROS that is distributed separately. It enables you to easily download many source trees for ROS packages with one command.
To install this tool on Ubuntu, run:
sudo apt-get install python-rosinstall
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