本文首发于个人博客https://kezunlin.me/post/e2780b93/，欢迎阅读!
Tutorial to Install and Configure ROS Kinetic on Ubuntu 16.04.
<!--more-->
ROS release ROS version Ubuntu version
2016.3 ROS Kinetic Kame Ubuntu 16.04(Xenial)/Ubuntu 15.10
Install Guide
quick commands
sudo sh -c '. /etc/lsb-release && echo "deb [arch=amd64] http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt-get update
sudo apt-get install ros-kinetic-desktop-full
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
sudo rosdep init
rosdep update
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
# test
roscoreNotice
tinghua source
http://mirrors.tuna.tsinghua.edu.cn/ubuntu xenial
update source
sudo apt-get update
if we encouter errors when update source, we need to fix.
e.g remove sougou source to fix errors.
grep -r kylin .
./sources.list.d/sogoupinyin.list.save:deb http://archive.ubuntukylin.com:10006/ubuntukylin xenial main
./sources.list.d/sogoupinyin.list:deb http://archive.ubuntukylin.com:10006/ubuntukylin xenial main
rm ./sources.list.d/sogoupinyin.list
Configure ros source
ros offical(NOT RECOMMEND)
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
NOT RECOMMEND，when apt-get update, error will occur Hash Sum mismatch
ros china(RECOMMEND)
sudo sh -c '. /etc/lsb-release && echo "deb [arch=amd64] http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
ros-latest.list
deb [arch=amd64] http://mirrors.ustc.edu.cn/ros/ubuntu/ xenial main
Install ros
ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception
sudo apt-get update
sudo apt-get install ros-kinetic-desktop-full
#sudo apt-get install ros-kinetic-desktop
#sudo apt-get install ros-kinetic-ros-base
#sudo apt-get install ros-kinetic-<PACKAGE>
#sudo apt-get install ros-kinetic-slam-gmapping
#apt-cache search ros-kinetic
Initialize rosdep
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
will output
reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index.yaml
Add distro "groovy"
Add distro "hydro"
Add distro "indigo"
Add distro "jade"
Add distro "kinetic"
Add distro "lunar"
updated cache in /home/kezunlin/.ros/rosdep/sources.cache
Environment setup
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
check ROS
env | grep ROS
export | grep ROS
declare -x ROSLISP_PACKAGE_DIRECTORIES=""
declare -x ROS_DISTRO="kinetic"
declare -x ROS_ETC_DIR="/opt/ros/kinetic/etc/ros"
declare -x ROS_MASTER_URI="http://localhost:11311"
declare -x ROS_PACKAGE_PATH="/opt/ros/kinetic/share"
declare -x ROS_ROOT="/opt/ros/kinetic/share/ros"
Dependencies for building packages
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
Test install
roscore
output
... logging to /home/kezunlin/.ros/log/b777db6c-ff85-11e8-93c2-80fa5b47928a/roslaunch-ke-17139.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://ke:36319/
ros_comm version 1.12.14
SUMMARY
========
PARAMETERS
* /rosdistro: kinetic
* /rosversion: 1.12.14
NODES
auto-starting new master
process[master]: started with pid [17162]
ROS_MASTER_URI=http://ke:11311/
setting /run_id to b777db6c-ff85-11e8-93c2-80fa5b47928a
process[rosout-1]: started with pid [17175]
started core service [/rosout]
^C[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
Create Workspace
Create
Let's create and build a catkin workspace:
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make
ls .
build dist src
tree src folder
src/
└── CMakeLists.txt -> /opt/ros/kinetic/share/catkin/cmake/toplevel.cmake
0 directories, 1 file
tree devel folder
devel
├── env.sh
├── lib
├── setup.bash
├── setup.sh
├── _setup_util.py
└── setup.zsh
1 directory, 5 files
The catkin_make command is a convenience tool for working with catkin workspaces.
source devel setup
before source devel/setup.bash
env | grep ROS
ROS_ROOT=/opt/ros/kinetic/share/ros
ROS_PACKAGE_PATH=/opt/ros/kinetic/share
ROS_MASTER_URI=http://localhost:11311
ROSLISP_PACKAGE_DIRECTORIES=
ROS_DISTRO=kinetic
ROS_ETC_DIR=/opt/ros/kinetic/etc/ros
after source devel/setup.bash
env | grep ROS
ROS_ROOT=/opt/ros/kinetic/share/ros
ROS_PACKAGE_PATH=/home/kezunlin/catkin_ws/src:/opt/ros/kinetic/share
ROS_MASTER_URI=http://localhost:11311
ROSLISP_PACKAGE_DIRECTORIES=/home/kezunlin/catkin_ws/devel/share/common-lisp
ROS_DISTRO=kinetic
ROS_ETC_DIR=/opt/ros/kinetic/etc/ros
To make sure your workspace is properly overlayed by the setup script, make sure ROS_PACKAGE_PATH environment variable includes the directory you're in.
echo $ROS_PACKAGE_PATH
/home/kezunlin/catkin_ws/src:/opt/ros/kinetic/share
Reference
History
- 2018/01/04: created.
Copyright
- Post author: kezunlin
- Post link: https://kezunlin.me/post/e2780b93/
- Copyright Notice: All articles in this blog are licensed under CC BY-NC-SA 3.0 unless stating additionally.
