ROS-Indigo版在Ubuntu上的安装

2015/05/04 10:46
阅读数 10K

Ubuntu install of ROS Indigo

We  are building Debian packages for several Ubuntu platforms, listed  below. These packages are more efficient than source-based builds and  are our preferred installation method for Ubuntu.

If you need to install from source (not recommended), please see source (download-and-compile) installation instructions.

If you rely on these packages, please support OSRF.

These packages are built and hosted on infrastructure maintained and paid for by the Open Source Robotics Foundation,  a 501(c)(3) non-profit organization. If OSRF were to receive one penny  for each downloaded package for just two months, we could cover our  annual costs to manage, update, and host all of our online services.   Please consider donating to OSRF today.

目录

  1. Ubuntu install of ROS Indigo

    1. Configure your Ubuntu repositories

    2. Setup your sources.list

    3. Set up your keys

    4. Installation

    5. Initialize rosdep

    6. Environment setup

    7. Getting rosinstall

    8. Build farm status

    9. Installation

    10. Tutorials

Installation

Configure your Ubuntu repositories

Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse." You can follow the Ubuntu guide for instructions on doing this.

Setup your sources.list

Setup your computer to accept software from packages.ros.org. ROS Indigo ONLY supports Saucy (13.10) and Trusty (14.04) 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'

Mirrors

Set up your keys

  • wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -

Installation

First, make sure your Debian package index is up-to-date:

  • sudo apt-get update

    For more information on this issue see this answers.ros.org thread or this launchpad issue

    • /!\ Do not install these packages if you are using 14.04, it will destroy your X server:

      sudo apt-get install xserver-xorg-dev-lts-utopic mesa-common-dev-lts-utopic libxatracker-dev-lts-utopic libopenvg1-mesa-dev-lts-utopic libgles2-mesa-dev-lts-utopic libgles1-mesa-dev-lts-utopic libgl1-mesa-dev-lts-utopic libgbm-dev-lts-utopic libegl1-mesa-dev-lts-utopic

      /!\ Do not install the above packages if you are using 14.04, it will destroy your X server

    • sudo apt-get install libgl1-mesa-dev-lts-utopic
    • If you are using Ubuntu Trusty 14.04.2 and experience dependency issues during the ROS installation, you may have to install some additional system dependencies.

      Alternatively, try installing just this to fix dependency issues:

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.

  • Desktop-Full Install: (Recommended) : ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception

    Indigo uses Gazebo 2 which is the default version of Gazebo on Trusty and is recommended. If you need to upgrade to Gazebo 3 see these instructions about how to upgrade the simulator.

    Desktop Install: ROS, rqt, rviz, and robot-generic libraries

    ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools.

    Individual Package: You can also install a specific ROS package (replace underscores with dashes of the package name):

    • sudo apt-get install ros-indigo-PACKAGE

      e.g.

      sudo apt-get install ros-indigo-slam-gmapping
    • sudo apt-get install ros-indigo-ros-base

      or click here

    • sudo apt-get install ros-indigo-desktop

      or  click here

    • sudo apt-get install ros-indigo-desktop-full

      or  click here

To find available packages, use:

apt-cache search ros-indigo

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

Environment setup

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/indigo/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, you can type:

source /opt/ros/indigo/setup.bash

Getting rosinstall

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

Build farm status

The packages that you installed were built by ROS build farm.  You can check the status of individual packages here.

Tutorials

Now, to test your installation, please proceed to the ROS Tutorials.


展开阅读全文
打赏
0
0 收藏
分享
加载中
更多评论
打赏
0 评论
0 收藏
0
分享
返回顶部
顶部