TX1软件教程之配置ROS环境
1.更换源
因为国外的源下载速度偏慢,国内支持arm系统架构的源又很少,我们选择国内为数不多支持arm架构的中科大源
$ cd /etc/apt
$ sudo gedit sources.list
将sources.list的内容全部注释,将以下内容复制粘贴进去
deb http://debian.ustc.edu.cn/ubuntu/ trusty main multiverse restricted universe
deb http://debian.ustc.edu.cn/ubuntu/ trusty-backports main multiverse restricted universe
deb http://debian.ustc.edu.cn/ubuntu/ trusty-proposed main multiverse restricted universe
deb http://debian.ustc.edu.cn/ubuntu/ trusty-security main multiverse restricted universe
deb http://debian.ustc.edu.cn/ubuntu/ trusty-updates main multiverse restricted universe
deb-src http://debian.ustc.edu.cn/ubuntu/ trusty main multiverse restricted universe
deb-src http://debian.ustc.edu.cn/ubuntu/ trusty-backports main multiverse restricted universe
deb-src http://debian.ustc.edu.cn/ubuntu/ trusty-proposed main multiverse restricted universe
deb-src http://debian.ustc.edu.cn/ubuntu/ trusty-security main multiverse restricted universe
deb-src http://debian.ustc.edu.cn/ubuntu/ trusty-updates main multiverse restricted universe
保存退出
2. 添加ROS镜像源
$ sudo sh -c ‘. /etc/lsb-release && echo “deb http://mirror.sysu.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main” > /etc/apt/sources.list.d/ros-latest.list’
3.添加密钥
$ sudo apt-key adv –keyserver hkp://ha.pool.sks-keyservers.net:80 –recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
4.更新软件
$ sudo apt-get update
$ sudo apt-get upgrade
$ sudo apt-get -f install
确定这三条命令没有错误,方可进行下一步,否则可能产生无法预计的错误
5.安装ROS
安装ROS(无法安装桌面完全版,具体原因尚未清楚)
$ sudo apt-get install ros-kinetic-desktop
初始化rosdep
$ sudo rosdep init
$ rosdep update
设置环境变量
$ echo “source /opt/ros/kinetic/setup.bash” >> ~/.bashrc
$ source ~/.bashrc
安装常用工具(可不安装,但建议安装)
$ sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
至此,ROS安装完毕,在终端输入roscore,如果没有问题则说明ROS安装成功。