判断ROS版本号-ROS安装-修改镜像源 linux版本:ubuntu20.04 ROS版本:noetic
- 判断ROS版本号
- 安装ROS
- 改镜像源
判断ROS版本号
机器人用的是树莓派、stm32、ros。
首先要配置网络，把机器人上的sd卡插到树莓派开发板上，然后配置连接的热点。
接下来，把sd卡插回机器人上的树莓派，开启热点，机器人将自动连接到热点。
使用MobaXterm_Personal软件，创建ssh连接。
首先开启一个终端，里面输入roscore：
┌──────────────────────────────────────────────────────────────────────┐│ • MobaXterm Personal Edition v21.3 • ││ (SSH client, X server and network tools) ││ ││ ➤ SSH session to lemon@192.168.137.189 ││ • Direct SSH : ✔ ││ • SSH compression : ✔ ││ • SSH-browser : ✔ ││ • X11-forwarding : ✔ (remote display is forwarded through SSH) ││ ││ ➤ For more info, ctrl+click on help or visit our website. │└──────────────────────────────────────────────────────────────────────┘Welcome to Ubuntu 20.04.2 LTS (GNU/Linux 5.4.0-1035-raspi aarch64)* Documentation: https://help.ubuntu.com* Management: https://landscape.canonical.com* Support: https://ubuntu.com/advantageLast login: Sun Oct 24 12:03:52 2021 from 192.168.137.1
lemon@lemon:~$ roscore
... logging to /home/lemon/.ros/log/93e79cda-3486-11ec-a274-e94615cd611d/roslaunch-lemon-1399.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.started roslaunch server http://lemon:40829/
ros_comm version 1.15.9SUMMARY
========PARAMETERS* /rosdistro: noetic* /rosversion: 1.15.9NODESauto-starting new master
process[master]: started with pid [1436]
ROS_MASTER_URI=http://lemon:11311/setting /run_id to 93e79cda-3486-11ec-a274-e94615cd611d
process[rosout-1]: started with pid [1462]
started core service [/rosout]在开启另一个终端，里面输入rosparam list
再输入rosparam get /rosdistro
┌──────────────────────────────────────────────────────────────────────┐│ • MobaXterm Personal Edition v21.3 • ││ (SSH client, X server and network tools) ││ ││ ➤ SSH session to lemon@192.168.137.189 ││ • Direct SSH : ✔ ││ • SSH compression : ✔ ││ • SSH-browser : ✔ ││ • X11-forwarding : ✔ (remote display is forwarded through SSH) ││ ││ ➤ For more info, ctrl+click on help or visit our website. │└──────────────────────────────────────────────────────────────────────┘Welcome to Ubuntu 20.04.2 LTS (GNU/Linux 5.4.0-1035-raspi aarch64)* Documentation: https://help.ubuntu.com* Management: https://landscape.canonical.com* Support: https://ubuntu.com/advantage
Last login: Sun Oct 24 12:45:37 2021 from 192.168.137.1
lemon@lemon:~$ rosparam list
/rosdistro
/roslaunch/uris/host_lemon__40829
/rosversion
/run_id
lemon@lemon:~$ rosparam get /rosdistro
'noetic'
然后就可以发现当前的ros版本是noetic。noetic是ROS1的最后一个长期支持版。
那么接下来，对ros进行研究，就继续在linux-ubuntu20.04版本下配置noetic版本的ros。
安装ROS
在VMware-linux-ubuntu20.04中，打开终端，按以下步骤输入指令。
1.添加ros源
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
2.增加key
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
3.上面如果添加不成功，可以如下增加key
curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | sudo apt-key add -
4.更新软件
sudo apt update
5.安装ros
sudo apt install ros-noetic-desktop-full
6.把ros环境加载脚本添加到bashrc
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
测试ROS：
开三个终端，分别写roscore、rosrun turtlesim turtlesim_node、rosrun turtlesim turtle_teleop_key
jym@ubuntu:~$ roscore
... logging to /home/jym/.ros/log/5b2a055c-34a1-11ec-b36c-ed0dd69260d5/roslaunch-ubuntu-32694.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.started roslaunch server http://ubuntu:42685/
ros_comm version 1.15.13SUMMARY
========PARAMETERS* /rosdistro: noetic* /rosversion: 1.15.13NODESauto-starting new master
process[master]: started with pid [32705]
ROS_MASTER_URI=http://ubuntu:11311/setting /run_id to 5b2a055c-34a1-11ec-b36c-ed0dd69260d5
process[rosout-1]: started with pid [32715]
started core service [/rosout]jym@ubuntu:~$ rosrun turtlesim turtlesim_node
[ INFO] [1635062998.850703821]: Starting turtlesim with node name /turtlesim
[ INFO] [1635062998.852881006]: Spawning turtle [turtle1] at x=[5.544445], y=[5.544445], theta=[0.000000]
jym@ubuntu:~$ rosrun turtlesim turtle_teleop_key
Reading from keyboard
---------------------------
Use arrow keys to move the turtle. 'q' to quit.
可以通过鼠标控制乌龟说明安装成功：
改镜像源
上面安装ros用了三个小时，太久了，所以现在就改一下镜像源。
提前安装好vim。
首先设置进入root权限：
输入sudo passwd root （注意passwd的拼写），再输入用户密码，接下来会让你设置root密码，并再次确认。
接下来输入su，再输入刚刚设置的root密码就可以进入root了。
之后想要退出输入exit即可。
然后设置完之后，开始：
1.备份原始文件
sudo cp /etc/apt/sources.list /etc/apt/sources.list.backup
2.编辑镜像源文件
vim /etc/apt/sources.list
在vim里面
删除所有代码 :0,$d
然后粘贴进去：
deb http://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiversedeb http://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiversedeb http://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiversedeb http://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiversedeb http://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse
保存并退出代码 :wq！
更新源：
sudo apt-get update
更新软件：
sudo apt-get dist-upgrade
sudo apt-get upgrade
可以看到速度很快。
使用ros的话，通过pip安装一下rospy包
pip install rospkg
pip install catkin-tools
至此，ros基本上配置好了。
