ubuntu 20.04 安装 ROS Noetic

本文介绍在 Ubuntu 20.04 上安装 ROS Noetic 的方法流程。

简介

ROS 信息与版本对应关系

安装流程

1. 配置ubuntu repositories

   设置-关于-软件更新：

   

   搜索最好的下载服务器

   

   

2. 添加 ROS 源

   sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

   可以尝试用中科大、上交、北外等国内镜像源：http://wiki.ros.org/ROS/Installation/UbuntuMirrors

3. 添加密钥

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

4. 安装 ROS

   sudo apt update
   sudo apt install ros-noetic-desktop-full

5. 设置环境变量

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

6. rosdep 初始化

   sudo rosdep init

   如果显示 sudo: rosdep: command not found，则运行命令安装依赖

   sudo apt install python3-rosdep2

   显示如下信息表示成功：

   $ sudo rosdep init
   Wrote /etc/ros/rosdep/sources.list.d/20-default.list
   Recommended: please run
   
   	rosdep update

7. 更新 rosdep

   rosdep update

8. 配置环境

   sudo apt install python3-roslaunch
   sudo apt install ros-noetic-roslaunch
   sudo apt install ros-noetic-rosbash
   sudo apt install ros-noetic-turtlesim

9. 测试

   roscore

   显示如下信息表示成功：

   $ roscore
   ... logging to /home/vvd/.ros/log/1ecf77a4-57cf-11f0-a1cb-7394a331b1e3/roslaunch-ubuntu-4057.log
   Checking log directory for disk usage. This may take a while.
   Press Ctrl-C to interrupt
   Done checking log file disk usage. Usage is <1GB.
   
   started roslaunch server http://ubuntu:39877/
   ros_comm version 1.17.4
   
   
   SUMMARY
   ========
   
   PARAMETERS
    * /rosdistro: noetic
    * /rosversion: 1.17.4
   
   NODES
   
   auto-starting new master
   process[master]: started with pid [4065]
   ROS_MASTER_URI=http://ubuntu:11311/
   
   setting /run_id to 1ecf77a4-57cf-11f0-a1cb-7394a331b1e3
   process[rosout-1]: started with pid [4075]
   started core service [/rosout]
   ^C[rosout-1] killing on exit
   [master] killing on exit
   shutting down processing monitor...
   ... shutting down processing monitor complete

10. 小乌龟测试

    #分别在三个终端下运行
    roscore
    rosrun turtlesim turtlesim_node 
    rosrun turtlesim turtle_teleop_key 

    

参考资料

• https://blog.csdn.net/zeye5731/article/details/124053855

文章链接：
https://www.zywvvd.com/notes/tools/ros1/ros-noetic-install/ros-noetic-install/