Ubuntu18.04安装ros环境

前因

很多SLAM算法都需要在ros环境下运行，这篇文章特此记录在Ubuntu安装ros的过程和步骤。

软硬件环境

1. 操作系统：Ubuntu 18.04.6 LTS
2. 内存：62.5 GiB
3. 处理器：Intel® Core™ i9-10900K CPU @ 3.70GHz × 20
4. 显卡：NVIDIA GeForce RTX 3090/PCIe/SSE2

安装过程

配置Ubuntu仓库

打开软件和更新，在Ununtu软件一栏勾选上"universe"、“restricted”、"multiverse"三项，如图所示

配置sources.list文件

这个步骤的目的是让Ubuntu系统接收来自packages.ros.org的软件包

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

当然也可以选择国内的镜像，这样可以避免因为网络问题导致安装失败

1. 中科大源

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

2. 清华源

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'

3. 北外源

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

4. 上交源

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

配置密钥

sudo apt install curl # 如果还没有安装curl的话
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

安装ros

更新

sudo apt update

全量安装

全量安装的内容包括有：ROS、rqt、rviz、robot通用库、2D/3D模拟器、2D/3D感知

sudo apt install ros-melodic-desktop-full

配置环境变量

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

安装编译所需的依赖

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential

初始化rosdep

sudo apt install python-rosdep
sudo rosdep init
rosdep update

验证安装

在终端中输入

roscore

若有相应程序运行，则说明已经安装成功