Ubuntu 16.04安装ROS Kinetic详细教程

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Tutorial to Install and Configure ROS Kinetic on Ubuntu 16.04.

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
roscore

Notice

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.