forked from ray/RobotKernal-UESTC
67 lines
1.8 KiB
Markdown
67 lines
1.8 KiB
Markdown
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# ROS环境安装
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更新时间：2024-01-27
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> - 硬件：Firefly-ROC-RK3588S-PC
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> - 系统固件：ROC-RK3588S-PC_Ubuntu20.04-Gnome-r30028_v1.1.1b_230914.7z
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> - 系统固件下载百度云链接：https://pan.baidu.com/s/1NW9SuyuZSmhWSPJJVCrKBg 提取码：k5r3
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> - 团队私有网盘：http://logzhan.ticp.io:52440 账号：uestc 密码：123
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> - 验证方法：刷机后新安装
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> - 验证人: 李瑞瑞、詹力 2024-01-27
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### 1. 添加ROS软件源：将以下命令复制到ubuntu的终端执行
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```sh
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# 换中国技术大学源，可以全部都换，这个只换ros
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sudo sh -c '. /etc/lsb-release && echo "deb <http://mirrors.ustc.edu.cn/ros/ubuntu/> $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
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```
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### 2. 添加ROS软件源
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```
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sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654` (这一步建议看下面链接) `
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```
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### 3. 开始安装ROS
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```shell
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# 更新apt, 如果不更新可能会导致无法定位软件包的问题
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sudo apt update
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sudo apt install ros-noetic-desktop-full
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sudo apt-get install python3-pip
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sudo pip3 install 6-rosdep
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sudo 6-rosdep
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sudo rosdep init
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rosdep update
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```
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### 4. 设置环境变量
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```shell
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echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
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source ~/.bashrc
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```
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### 5. 安装rosinstall
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```shell
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sudo apt install python3-rosinstall python3-rosinstall-generator python3-wstool
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```
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### 6. 安装检查
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经过实验，下面两个库在前面的步骤已经安装完成，下面步骤主要是检查所需要的库是否安装全。
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```shell
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sudo apt install ros-noetic-desktop-full
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# 安装libgtk主要是用于支持图像显示
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sudo apt-get install libgtk2.0-dev
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# apt-get无法安装时可以采用aptitude安装,
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# 如果没有安装aptitude
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sudo apt-get install aptitude
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sudo aptitude install libgtk2.0-dev
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```
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