ROS已經升級到Jade版了，而且貌似可以支持Ubuntu15.04。這里做一個測試，安裝是成功的，運行有沒有問題，慢慢用了再說。

Ubuntu install of ROS Jade

We? are building Debian packages for several Ubuntu platforms, listed? below. These packages are more efficient than source-based builds and? are our preferred installation method for Ubuntu.

If you need to install from source (not recommended), please see source (download-and-compile) installation instructions.(http://wiki.ros.org/jade/Installation/Source)

If you rely on these packages, please support OSRF.

These packages are built and hosted on infrastructure maintained and paid for by the Open Source Robotics Foundation,? a 501(c)(3) non-profit organization. If OSRF were to receive one penny? for each downloaded package for just two months, we could cover our? annual costs to manage, update, and host all of our online services.?? Please consider donating to OSRF today.

目錄

Ubuntu install of ROS Jade

Obtain source code of the installed packages

Configure your Ubuntu repositories

Setup your sources.list

Set up your keys

Installation

Initialize rosdep

Environment setup

Getting rosinstall

Build farm status

Installation

Tutorials

Installation

Configure your Ubuntu repositories

Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse." You can follow the Ubuntu guide for instructions on doing this.

Setup your sources.list

Setup your computer to accept software from packages.ros.org. ROS Jade ONLY supports Trusty (14.04), Utopic (14.10) and Vivid (15.04) for debian packages.

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

Mirrors

Set up your keys

sudo apt-key adv --keyserver hkp://pool.sks-keyservers.net --recv-key 0xB01FA116

Installation

First, make sure your Debian package index is up-to-date:

sudo apt-get update

For more information on this issue see this answers.ros.org thread or this launchpad issue

/!\ Do not install these packages if you are using 14.04, it will destroy your X server:

sudo apt-get install xserver-xorg-dev-lts-utopic mesa-common-dev-lts-utopic libxatracker-dev-lts-utopic libopenvg1-mesa-dev-lts-utopic libgles2-mesa-dev-lts-utopic libgles1-mesa-dev-lts-utopic libgl1-mesa-dev-lts-utopic libgbm-dev-lts-utopic libegl1-mesa-dev-lts-utopic

/!\ Do not install the above packages if you are using 14.04, it will destroy your X server

sudo apt-get install libgl1-mesa-dev-lts-utopic

If you are using Ubuntu Trusty 14.04.2 and experience dependency issues during the ROS installation, you may have to install some additional system dependencies.

Alternatively, try installing just this to fix dependency issues:

There? are many different libraries and tools in ROS.? We provided four? default configurations to get you started.? You can also install ROS? packages individually.

Desktop-Full Install: (Recommended) : ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception

Desktop Install: ROS, rqt, rviz, and robot-generic libraries

ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools.

Individual Package: You can also install a specific ROS package (replace underscores with dashes of the package name):

sudo apt-get install ros-jade-PACKAGE

e.g.

sudo apt-get install ros-jade-slam-gmapping

sudo apt-get install ros-jade-ros-base

or click here

sudo apt-get install ros-jade-desktop

or? click here

sudo apt-get install ros-jade-desktop-full

or? click here

To find available packages, use:

apt-cache search ros-jade

Initialize rosdep

Before you can use ROS, you will need to initialize rosdep. rosdep? enables you to easily install system dependencies for source you want? to compile and is required to run some core components in ROS.

sudo rosdep init rosdep update

Environment setup

It's? convenient if the ROS environment variables are automatically added to? your bash session every time a new shell is launched:

echo "source /opt/ros/jade/setup.bash" >> ~/.bashrc source ~/.bashrc

If you have more than one ROS distribution installed, ~/.bashrc must only source the setup.bash for the version you are currently using.

If you just want to change the environment of your current shell, you can type:

source /opt/ros/jade/setup.bash

Getting rosinstall

rosinstall? is a frequently used command-line tool in ROS that is distributed? separately.? It enables you to easily download many source trees for ROS? packages with one command.

To install this tool on Ubuntu, run:

sudo apt-get install python-rosinstall

Build farm status

The packages that you installed were built by ROS build farm.? You can check the status of individual packages here.

Tutorials

Now, to test your installation, please proceed to the ROS Tutorials.

Obtain source code of the installed packages

If? you know the location of the repository of each package, you know you? can obtain all the code there. But it's often hard even for experienced? developers to reach the correct maintained repository of certain? packages. Also, in some situations you just want to get the source of? the released, installed version of a package. The methods described here? the best for these cases.

In earlier days of ROS (supposedly electric or earlier) you can obtain by the way noted in this question.

Now just apt-get source (sudo not needed) as following. You don't even need to explicitly specify deb-src? entry etc. This downloads from the server all the files in the released? version of the package (i.e. things not installed in the installation? rule (e.g. CMakeLists.txt) are also included).

$ apt-get source ros-jade-laser-pipeline

A drawback might be that you have to specify a single, exact package name (asterisks do not work).

總結

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