{"id":52363,"date":"2024-10-09T02:01:13","date_gmt":"2024-10-08T18:01:13","guid":{"rendered":"https:\/\/server.hk\/cnblog\/52363\/"},"modified":"2024-11-14T10:39:14","modified_gmt":"2024-11-14T02:39:14","slug":"ubuntu-%e4%b8%ad%e5%ae%89%e8%a3%9d-ros-kinetic","status":"publish","type":"post","link":"https:\/\/server.hk\/cnblog\/52363\/","title":{"rendered":"Ubuntu \u4e2d\u5b89\u88dd ROS Kinetic"},"content":{"rendered":"<h1 id=\"%e5%9c%a8-ubuntu-%e4%b8%ad%e5%ae%89%e8%a3%9d-ros-kinetic-rmqNJtnyow\">\u5728 Ubuntu \u4e2d\u5b89\u88dd ROS Kinetic<\/h1>\n<p>Robot Operating System (ROS) \u662f\u4e00\u500b\u958b\u6e90\u7684\u6a5f\u5668\u4eba\u8edf\u9ad4\u5e73\u53f0\uff0c\u63d0\u4f9b\u4e86\u8a31\u591a\u5de5\u5177\u548c\u5eab\uff0c\u5e6b\u52a9\u958b\u767c\u8005\u8a2d\u8a08\u548c\u63a7\u5236\u6a5f\u5668\u4eba\u7cfb\u7d71\u3002ROS Kinetic \u662f ROS \u7684\u4e00\u500b\u7248\u672c\uff0c\u5c08\u70ba Ubuntu 16.04 LTS\uff08Xenial Xerus\uff09\u8a2d\u8a08\u3002\u672c\u6587\u5c07\u6307\u5c0e\u60a8\u5982\u4f55\u5728 Ubuntu \u4e2d\u5b89\u88dd ROS Kinetic\u3002<\/p>\n<h2 id=\"%e7%b3%bb%e7%b5%b1%e8%a6%81%e6%b1%82-rmqNJtnyow\">\u7cfb\u7d71\u8981\u6c42<\/h2>\n<p>\u5728\u5b89\u88dd ROS Kinetic \u4e4b\u524d\uff0c\u8acb\u78ba\u4fdd\u60a8\u7684\u7cfb\u7d71\u7b26\u5408\u4ee5\u4e0b\u8981\u6c42\uff1a<\/p>\n<ul>\n<li>\u64cd\u4f5c\u7cfb\u7d71\uff1aUbuntu 16.04 LTS<\/li>\n<li>\u81f3\u5c11 1 GB \u7684 RAM\uff08\u5efa\u8b70 2 GB \u6216\u66f4\u591a\uff09<\/li>\n<li>\u81f3\u5c11 5 GB \u7684\u53ef\u7528\u786c\u789f\u7a7a\u9593<\/li>\n<\/ul>\n<h2 id=\"%e5%ae%89%e8%a3%9d%e6%ad%a5%e9%a9%9f-rmqNJtnyow\">\u5b89\u88dd\u6b65\u9a5f<\/h2>\n<h3 id=\"1-%e6%9b%b4%e6%96%b0%e7%b3%bb%e7%b5%b1-rmqNJtnyow\">1. \u66f4\u65b0\u7cfb\u7d71<\/h3>\n<p>\u9996\u5148\uff0c\u6253\u958b\u7d42\u7aef\u6a5f\u4e26\u66f4\u65b0\u60a8\u7684\u7cfb\u7d71\u5305\u5217\u8868\uff1a<\/p>\n<pre><code>sudo apt-get update\nsudo apt-get upgrade<\/code><\/pre>\n<h3 id=\"2-%e8%a8%ad%e7%bd%ae-ros-%e7%9a%84%e8%bb%9f%e9%ab%94%e6%ba%90-rmqNJtnyow\">2. \u8a2d\u7f6e ROS \u7684\u8edf\u9ad4\u6e90<\/h3>\n<p>\u63a5\u4e0b\u4f86\uff0c\u60a8\u9700\u8981\u6dfb\u52a0 ROS \u7684\u8edf\u9ad4\u6e90\u3002\u9996\u5148\uff0c\u78ba\u4fdd\u60a8\u5df2\u5b89\u88dd curl\uff1a<\/p>\n<pre><code>sudo apt-get install curl<\/code><\/pre>\n<p>\u7136\u5f8c\uff0c\u6dfb\u52a0 ROS \u7684 GPG \u5bc6\u9470\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'\ncurl -s http:\/\/packages.ros.org\/ros.key | sudo apt-key add -<\/code><\/pre>\n<h3 id=\"3-%e5%ae%89%e8%a3%9d-ros-kinetic-rmqNJtnyow\">3. \u5b89\u88dd ROS Kinetic<\/h3>\n<p>\u73fe\u5728\uff0c\u60a8\u53ef\u4ee5\u5b89\u88dd ROS Kinetic\u3002\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u5b89\u88dd\u5b8c\u6574\u7684 ROS \u6846\u67b6\uff1a<\/p>\n<pre><code>sudo apt-get update\nsudo apt-get install ros-kinetic-desktop-full<\/code><\/pre>\n<p>\u9019\u500b\u547d\u4ee4\u5c07\u5b89\u88dd ROS Kinetic \u7684\u6240\u6709\u6838\u5fc3\u529f\u80fd\u548c\u5de5\u5177\u3002<\/p>\n<h3 id=\"4-%e8%a8%ad%e7%bd%ae%e7%92%b0%e5%a2%83%e8%ae%8a%e6%95%b8-rmqNJtnyow\">4. \u8a2d\u7f6e\u74b0\u5883\u8b8a\u6578<\/h3>\n<p>\u5b89\u88dd\u5b8c\u6210\u5f8c\uff0c\u60a8\u9700\u8981\u8a2d\u7f6e\u74b0\u5883\u8b8a\u6578\u3002\u53ef\u4ee5\u901a\u904e\u5728\u7d42\u7aef\u6a5f\u4e2d\u8f38\u5165\u4ee5\u4e0b\u547d\u4ee4\u4f86\u5be6\u73fe\uff1a<\/p>\n<pre><code>echo \"source \/opt\/ros\/kinetic\/setup.bash\" &gt;&gt; ~\/.bashrc\nsource ~\/.bashrc<\/code><\/pre>\n<h3 id=\"5-%e5%ae%89%e8%a3%9d%e4%be%9d%e8%b3%b4%e5%8c%85-rmqNJtnyow\">5. \u5b89\u88dd\u4f9d\u8cf4\u5305<\/h3>\n<p>\u70ba\u4e86\u78ba\u4fdd ROS \u80fd\u5920\u6b63\u5e38\u904b\u884c\uff0c\u60a8\u9700\u8981\u5b89\u88dd\u4e00\u4e9b\u4f9d\u8cf4\u5305\u3002\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u5b89\u88dd\uff1a<\/p>\n<pre><code>sudo apt-get install python-rosdep\nsudo rosdep init\nrosdep update<\/code><\/pre>\n<h3 id=\"6-%e6%b8%ac%e8%a9%a6%e5%ae%89%e8%a3%9d-rmqNJtnyow\">6. \u6e2c\u8a66\u5b89\u88dd<\/h3>\n<p>\u6700\u5f8c\uff0c\u60a8\u53ef\u4ee5\u6e2c\u8a66 ROS \u662f\u5426\u5b89\u88dd\u6210\u529f\u3002\u8f38\u5165\u4ee5\u4e0b\u547d\u4ee4\u555f\u52d5 ROS \u6838\u5fc3\uff1a<\/p>\n<pre><code>roscore<\/code><\/pre>\n<p>\u5982\u679c\u4e00\u5207\u6b63\u5e38\uff0c\u60a8\u61c9\u8a72\u6703\u770b\u5230 ROS \u6838\u5fc3\u555f\u52d5\u7684\u76f8\u95dc\u4fe1\u606f\u3002<\/p>\n<h2 id=\"%e5%b8%b8%e8%a6%8b%e5%95%8f%e9%a1%8c-rmqNJtnyow\">\u5e38\u898b\u554f\u984c<\/h2>\n<h3 id=\"1-%e5%a6%82%e4%bd%95%e5%8d%b8%e8%bc%89-ros-kinetic%ef%bc%9f-rmqNJtnyow\">1. \u5982\u4f55\u5378\u8f09 ROS Kinetic\uff1f<\/h3>\n<p>\u5982\u679c\u60a8\u9700\u8981\u5378\u8f09 ROS Kinetic\uff0c\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\uff1a<\/p>\n<pre><code>sudo apt-get remove ros-kinetic-* \nsudo apt-get autoremove<\/code><\/pre>\n<h3 id=\"2-%e5%a6%82%e4%bd%95%e5%ae%89%e8%a3%9d%e5%85%b6%e4%bb%96-ros-%e5%a5%97%e4%bb%b6%ef%bc%9f-rmqNJtnyow\">2. \u5982\u4f55\u5b89\u88dd\u5176\u4ed6 ROS \u5957\u4ef6\uff1f<\/h3>\n<p>\u60a8\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u5b89\u88dd\u7279\u5b9a\u7684 ROS \u5957\u4ef6\uff1a<\/p>\n<pre><code>sudo apt-get install ros-kinetic-<\/code><\/pre>\n<p>\u5c07  \u66ff\u63db\u70ba\u60a8\u60f3\u8981\u5b89\u88dd\u7684\u5957\u4ef6\u540d\u7a31\u3002<\/p>\n<h2 id=\"%e7%b8%bd%e7%b5%90-rmqNJtnyow\">\u7e3d\u7d50<\/h2>\n<p>\u5728\u672c\u6587\u4e2d\uff0c\u6211\u5011\u4ecb\u7d39\u4e86\u5982\u4f55\u5728 Ubuntu \u4e2d\u5b89\u88dd ROS Kinetic\uff0c\u5305\u62ec\u7cfb\u7d71\u8981\u6c42\u3001\u5b89\u88dd\u6b65\u9a5f\u548c\u5e38\u898b\u554f\u984c\u89e3\u7b54\u3002\u900f\u904e\u9019\u4e9b\u6b65\u9a5f\uff0c\u60a8\u53ef\u4ee5\u8f15\u9b06\u5730\u5728\u60a8\u7684\u7cfb\u7d71\u4e0a\u8a2d\u7f6e ROS Kinetic\uff0c\u958b\u59cb\u60a8\u7684\u6a5f\u5668\u4eba\u958b\u767c\u4e4b\u65c5\u3002\u5982\u679c\u60a8\u9700\u8981\u7a69\u5b9a\u7684\u4f3a\u670d\u5668\u4f86\u904b\u884c\u60a8\u7684\u61c9\u7528\uff0c\u8003\u616e\u4f7f\u7528\u6211\u5011\u7684 <a href=\"https:\/\/server.hk\">\u9999\u6e2f VPS<\/a> \u670d\u52d9\uff0c\u63d0\u4f9b\u9ad8\u6548\u80fd\u548c\u53ef\u9760\u7684\u96f2\u4f3a\u670d\u5668\u89e3\u6c7a\u65b9\u6848\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Learn how to install ROS Kinetic on Ubuntu with step-by-step instructions for seamless robotics development and integration.<\/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-52363","post","type-post","status-publish","format-standard","hentry","category-setup-tutorials"],"_links":{"self":[{"href":"https:\/\/server.hk\/cnblog\/wp-json\/wp\/v2\/posts\/52363","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=52363"}],"version-history":[{"count":1,"href":"https:\/\/server.hk\/cnblog\/wp-json\/wp\/v2\/posts\/52363\/revisions"}],"predecessor-version":[{"id":52364,"href":"https:\/\/server.hk\/cnblog\/wp-json\/wp\/v2\/posts\/52363\/revisions\/52364"}],"wp:attachment":[{"href":"https:\/\/server.hk\/cnblog\/wp-json\/wp\/v2\/media?parent=52363"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/server.hk\/cnblog\/wp-json\/wp\/v2\/categories?post=52363"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/server.hk\/cnblog\/wp-json\/wp\/v2\/tags?post=52363"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}