{"id":51423,"date":"2024-10-08T18:29:16","date_gmt":"2024-10-08T10:29:16","guid":{"rendered":"https:\/\/server.hk\/cnblog\/51423\/"},"modified":"2024-11-14T10:43:19","modified_gmt":"2024-11-14T02:43:19","slug":"ubuntu-16-04-%e5%ae%89%e8%a3%9d-ros-kinetic-%e4%b8%a6%e5%95%9f%e5%8b%95%e5%b0%8f%e7%83%8f%e9%be%9c%e7%a4%ba%e4%be%8b","status":"publish","type":"post","link":"https:\/\/server.hk\/cnblog\/51423\/","title":{"rendered":"Ubuntu 16.04 \u5b89\u88dd ROS Kinetic \u4e26\u555f\u52d5\u5c0f\u70cf\u9f9c\u793a\u4f8b"},"content":{"rendered":"<h1 id=\"ubuntu-16-04-%e5%ae%89%e8%a3%9d-ros-kinetic-%e4%b8%a6%e5%95%9f%e5%8b%95%e5%b0%8f%e7%83%8f%e9%be%9c%e7%a4%ba%e4%be%8b-dBfTZDfQIB\">Ubuntu 16.04 \u5b89\u88dd ROS Kinetic \u4e26\u555f\u52d5\u5c0f\u70cf\u9f9c\u793a\u4f8b<\/h1>\n<p>\u5728\u6a5f\u5668\u4eba\u6280\u8853\u548c\u81ea\u52d5\u5316\u9818\u57df\uff0cROS\uff08Robot Operating System\uff09\u662f\u4e00\u500b\u975e\u5e38\u91cd\u8981\u7684\u958b\u6e90\u6846\u67b6\u3002\u5b83\u63d0\u4f9b\u4e86\u8a31\u591a\u5de5\u5177\u548c\u5eab\uff0c\u5e6b\u52a9\u958b\u767c\u8005\u66f4\u8f15\u9b06\u5730\u69cb\u5efa\u6a5f\u5668\u4eba\u61c9\u7528\u3002\u672c\u6587\u5c07\u4ecb\u7d39\u5982\u4f55\u5728 Ubuntu 16.04 \u4e0a\u5b89\u88dd ROS Kinetic \u4e26\u555f\u52d5\u5c0f\u70cf\u9f9c\u793a\u4f8b\uff0c\u9019\u662f\u4e00\u500b\u7c21\u55ae\u800c\u6709\u8da3\u7684\u5165\u9580\u9805\u76ee\u3002<\/p>\n<h2 id=\"%e5%89%8d%e7%bd%ae%e6%a2%9d%e4%bb%b6-dBfTZDfQIB\">\u524d\u7f6e\u689d\u4ef6<\/h2>\n<p>\u5728\u958b\u59cb\u4e4b\u524d\uff0c\u8acb\u78ba\u4fdd\u60a8\u7684\u7cfb\u7d71\u5df2\u7d93\u5b89\u88dd\u4e86 Ubuntu 16.04\u3002\u60a8\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u4f86\u6aa2\u67e5\u60a8\u7684 Ubuntu \u7248\u672c\uff1a<\/p>\n<pre><code>lsb_release -a<\/code><\/pre>\n<p>\u5982\u679c\u60a8\u5c1a\u672a\u5b89\u88dd Ubuntu 16.04\uff0c\u8acb\u53c3\u8003\u5b98\u65b9\u6587\u6a94\u9032\u884c\u5b89\u88dd\u3002<\/p>\n<h2 id=\"%e5%ae%89%e8%a3%9d-ros-kinetic-dBfTZDfQIB\">\u5b89\u88dd ROS Kinetic<\/h2>\n<p>\u63a5\u4e0b\u4f86\uff0c\u6211\u5011\u5c07\u5b89\u88dd ROS Kinetic\u3002\u8acb\u6309\u7167\u4ee5\u4e0b\u6b65\u9a5f\u9032\u884c\uff1a<\/p>\n<h3 id=\"1-%e8%a8%ad%e7%bd%ae%e4%be%86%e6%ba%90%e5%88%97%e8%a1%a8-dBfTZDfQIB\">1. \u8a2d\u7f6e\u4f86\u6e90\u5217\u8868<\/h3>\n<p>\u9996\u5148\uff0c\u60a8\u9700\u8981\u8a2d\u7f6e ROS \u7684\u4f86\u6e90\u5217\u8868\u3002\u6253\u958b\u7d42\u7aef\u4e26\u8f38\u5165\u4ee5\u4e0b\u547d\u4ee4\uff1a<\/p>\n<pre><code>sudo sh -c 'echo \"deb http:\/\/packages.ros.org\/ros\/ubuntu xenial main\" &gt; \/etc\/apt\/sources.list.d\/ros-latest.list'<\/code><\/pre>\n<h3 id=\"2-%e6%b7%bb%e5%8a%a0%e5%af%86%e9%91%b0-dBfTZDfQIB\">2. \u6dfb\u52a0\u5bc6\u9470<\/h3>\n<p>\u7136\u5f8c\uff0c\u60a8\u9700\u8981\u6dfb\u52a0 ROS \u7684\u5bc6\u9470\uff1a<\/p>\n<pre><code>sudo apt-key adv --keyserver 'hkp:\/\/keyserver.ubuntu.com:80' --recv-key 421C365BD9FF1F17<\/code><\/pre>\n<h3 id=\"3-%e6%9b%b4%e6%96%b0%e5%8c%85%e5%88%97%e8%a1%a8-dBfTZDfQIB\">3. \u66f4\u65b0\u5305\u5217\u8868<\/h3>\n<p>\u63a5\u4e0b\u4f86\uff0c\u66f4\u65b0\u60a8\u7684\u5305\u5217\u8868\uff1a<\/p>\n<pre><code>sudo apt-get update<\/code><\/pre>\n<h3 id=\"4-%e5%ae%89%e8%a3%9d-ros-kinetic-dBfTZDfQIB\">4. \u5b89\u88dd ROS Kinetic<\/h3>\n<p>\u73fe\u5728\uff0c\u60a8\u53ef\u4ee5\u5b89\u88dd ROS Kinetic \u4e86\u3002\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u9032\u884c\u5b89\u88dd\uff1a<\/p>\n<pre><code>sudo apt-get install ros-kinetic-desktop-full<\/code><\/pre>\n<h3 id=\"5-%e8%a8%ad%e7%bd%ae%e7%92%b0%e5%a2%83%e8%ae%8a%e9%87%8f-dBfTZDfQIB\">5. \u8a2d\u7f6e\u74b0\u5883\u8b8a\u91cf<\/h3>\n<p>\u5b89\u88dd\u5b8c\u6210\u5f8c\uff0c\u60a8\u9700\u8981\u8a2d\u7f6e\u74b0\u5883\u8b8a\u91cf\u3002\u5c07\u4ee5\u4e0b\u884c\u6dfb\u52a0\u5230\u60a8\u7684 ~\/.bashrc \u6587\u4ef6\u4e2d\uff1a<\/p>\n<pre><code>echo \"source \/opt\/ros\/kinetic\/setup.bash\" &gt;&gt; ~\/.bashrc<\/code><\/pre>\n<p>\u7136\u5f8c\uff0c\u904b\u884c\u4ee5\u4e0b\u547d\u4ee4\u4f7f\u66f4\u6539\u751f\u6548\uff1a<\/p>\n<pre><code>source ~\/.bashrc<\/code><\/pre>\n<h3 id=\"6-%e5%ae%89%e8%a3%9d%e4%be%9d%e8%b3%b4%e5%8c%85-dBfTZDfQIB\">6. \u5b89\u88dd\u4f9d\u8cf4\u5305<\/h3>\n<p>\u63a5\u4e0b\u4f86\uff0c\u5b89\u88dd\u4e00\u4e9b\u5fc5\u8981\u7684\u4f9d\u8cf4\u5305\uff1a<\/p>\n<pre><code>sudo apt-get install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential<\/code><\/pre>\n<h3 id=\"7-%e5%88%9d%e5%a7%8b%e5%8c%96-rosdep-dBfTZDfQIB\">7. \u521d\u59cb\u5316 rosdep<\/h3>\n<p>\u6700\u5f8c\uff0c\u521d\u59cb\u5316 rosdep\uff1a<\/p>\n<pre><code>sudo rosdep init\nrosdep update<\/code><\/pre>\n<h2 id=\"%e5%95%9f%e5%8b%95%e5%b0%8f%e7%83%8f%e9%be%9c%e7%a4%ba%e4%be%8b-dBfTZDfQIB\">\u555f\u52d5\u5c0f\u70cf\u9f9c\u793a\u4f8b<\/h2>\n<p>\u73fe\u5728\uff0c\u60a8\u5df2\u7d93\u6210\u529f\u5b89\u88dd\u4e86 ROS Kinetic\uff0c\u63a5\u4e0b\u4f86\u6211\u5011\u5c07\u555f\u52d5\u5c0f\u70cf\u9f9c\u793a\u4f8b\u3002<\/p>\n<h3 id=\"1-%e5%89%b5%e5%bb%ba%e5%b7%a5%e4%bd%9c%e7%a9%ba%e9%96%93-dBfTZDfQIB\">1. \u5275\u5efa\u5de5\u4f5c\u7a7a\u9593<\/h3>\n<p>\u9996\u5148\uff0c\u5275\u5efa\u4e00\u500b ROS \u5de5\u4f5c\u7a7a\u9593\uff1a<\/p>\n<pre><code>mkdir -p ~\/catkin_ws\/src\ncd ~\/catkin_ws\/\ncatkin_make<\/code><\/pre>\n<h3 id=\"2-%e5%95%9f%e5%8b%95%e5%b0%8f%e7%83%8f%e9%be%9c%e6%a8%a1%e6%93%ac%e5%99%a8-dBfTZDfQIB\">2. \u555f\u52d5\u5c0f\u70cf\u9f9c\u6a21\u64ec\u5668<\/h3>\n<p>\u63a5\u4e0b\u4f86\uff0c\u555f\u52d5\u5c0f\u70cf\u9f9c\u6a21\u64ec\u5668\uff1a<\/p>\n<pre><code>roscore<\/code><\/pre>\n<p>\u5728\u53e6\u4e00\u500b\u7d42\u7aef\u4e2d\uff0c\u904b\u884c\u4ee5\u4e0b\u547d\u4ee4\u4f86\u555f\u52d5\u5c0f\u70cf\u9f9c\uff1a<\/p>\n<pre><code>rosrun turtlesim turtlesim_node<\/code><\/pre>\n<h3 id=\"3-%e6%8e%a7%e5%88%b6%e5%b0%8f%e7%83%8f%e9%be%9c-dBfTZDfQIB\">3. \u63a7\u5236\u5c0f\u70cf\u9f9c<\/h3>\n<p>\u60a8\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u4f86\u63a7\u5236\u5c0f\u70cf\u9f9c\uff1a<\/p>\n<pre><code>rosrun turtlesim turtle_teleop_key<\/code><\/pre>\n<p>\u9019\u5c07\u5141\u8a31\u60a8\u4f7f\u7528\u9375\u76e4\u63a7\u5236\u5c0f\u70cf\u9f9c\u7684\u904b\u52d5\u3002<\/p>\n<h2 id=\"%e7%b8%bd%e7%b5%90-dBfTZDfQIB\">\u7e3d\u7d50<\/h2>\n<p>\u672c\u6587\u4ecb\u7d39\u4e86\u5982\u4f55\u5728 Ubuntu 16.04 \u4e0a\u5b89\u88dd ROS Kinetic \u4e26\u555f\u52d5\u5c0f\u70cf\u9f9c\u793a\u4f8b\u3002\u9019\u662f\u4e00\u500b\u5f88\u597d\u7684\u5165\u9580\u9805\u76ee\uff0c\u53ef\u4ee5\u5e6b\u52a9\u60a8\u719f\u6089 ROS \u7684\u57fa\u672c\u64cd\u4f5c\u3002\u5982\u679c\u60a8\u9700\u8981\u7a69\u5b9a\u7684\u74b0\u5883\u4f86\u9032\u884c\u958b\u767c\uff0c\u8003\u616e\u4f7f\u7528 <a href=\"https:\/\/server.hk\">\u9999\u6e2fVPS<\/a> \u4f86\u90e8\u7f72\u60a8\u7684\u61c9\u7528\u3002\u900f\u904e <a href=\"https:\/\/server.hk\">\u9999\u6e2f\u4f3a\u670d\u5668<\/a>\uff0c\u60a8\u53ef\u4ee5\u7372\u5f97\u9ad8\u6548\u80fd\u548c\u53ef\u9760\u7684\u670d\u52d9\uff0c\u52a9\u60a8\u5728\u6a5f\u5668\u4eba\u6280\u8853\u7684\u63a2\u7d22\u4e2d\u66f4\u9032\u4e00\u6b65\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u5b78\u7fd2\u5982\u4f55\u5728 Ubuntu 16.04 \u4e0a\u5b89\u88dd ROS Kinetic\uff0c\u4e26\u555f\u52d5\u5c0f\u70cf\u9f9c\u793a\u4f8b\uff0c\u8f15\u9b06\u638c\u63e1\u6a5f\u5668\u4eba\u958b\u767c\u57fa\u790e\u3002<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[4924],"tags":[],"class_list":["post-51423","post","type-post","status-publish","format-standard","hentry","category-setup-tutorials"],"_links":{"self":[{"href":"https:\/\/server.hk\/cnblog\/wp-json\/wp\/v2\/posts\/51423","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/server.hk\/cnblog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/server.hk\/cnblog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/server.hk\/cnblog\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/server.hk\/cnblog\/wp-json\/wp\/v2\/comments?post=51423"}],"version-history":[{"count":1,"href":"https:\/\/server.hk\/cnblog\/wp-json\/wp\/v2\/posts\/51423\/revisions"}],"predecessor-version":[{"id":51424,"href":"https:\/\/server.hk\/cnblog\/wp-json\/wp\/v2\/posts\/51423\/revisions\/51424"}],"wp:attachment":[{"href":"https:\/\/server.hk\/cnblog\/wp-json\/wp\/v2\/media?parent=51423"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/server.hk\/cnblog\/wp-json\/wp\/v2\/categories?post=51423"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/server.hk\/cnblog\/wp-json\/wp\/v2\/tags?post=51423"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}