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

   1	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

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

4. 安装 ROS

   1 2	sudo apt update sudo apt install ros-noetic-desktop-full

5. 设置环境变量

   1 2	echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc source ~/.bashrc

6. rosdep 初始化

   1	sudo rosdep init

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

   1	sudo apt install python3-rosdep2

   显示如下信息表示成功：

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

7. 更新 rosdep

   1	rosdep update

8. 配置环境

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   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

   1

   roscore

   显示如下信息表示成功：

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   $ 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

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    #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/