判斷ROS版本號-ROS安裝-修改鏡像源 linux版本:ubuntu20.04 ROS版本:noetic

• • 判斷ROS版本號
  • 安裝ROS
  • 改鏡像源

判斷ROS版本號

機器人用的是樹莓派、stm32、ros。

首先要配置網(wǎng)絡(luò)，把機器人上的sd卡插到樹莓派開發(fā)板上，然后配置連接的熱點。

接下來，把sd卡插回機器人上的樹莓派，開啟熱點，機器人將自動連接到熱點。

使用MobaXterm_Personal軟件，創(chuàng)建ssh連接。

首先開啟一個終端，里面輸入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]

在開啟另一個終端，里面輸入rosparam list

再輸入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'

然后就可以發(fā)現(xiàn)當前的ros版本是noetic。noetic是ROS1的最后一個長期支持版。

那么接下來，對ros進行研究，就繼續(xù)在linux-ubuntu20.04版本下配置noetic版本的ros。

安裝ROS

在VMware-linux-ubuntu20.04中，打開終端，按以下步驟輸入指令。

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.更新軟件

sudo apt update

5.安裝ros

sudo apt install ros-noetic-desktop-full

6.把ros環(huán)境加載腳本添加到bashrc

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

測試ROS：

開三個終端，分別寫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.

可以通過鼠標控制烏龜說明安裝成功：

改鏡像源

上面安裝ros用了三個小時，太久了，所以現(xiàn)在就改一下鏡像源。

提前安裝好vim。

首先設(shè)置進入root權(quán)限：

輸入sudo passwd root （注意passwd的拼寫），再輸入用戶密碼，接下來會讓你設(shè)置root密碼，并再次確認。

接下來輸入su，再輸入剛剛設(shè)置的root密碼就可以進入root了。

之后想要退出輸入exit即可。

然后設(shè)置完之后，開始：

1.備份原始文件

sudo cp /etc/apt/sources.list /etc/apt/sources.list.backup

2.編輯鏡像源文件

vim /etc/apt/sources.list

在vim里面

刪除所有代碼 :0,$d

然后粘貼進去：

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

保存并退出代碼 :wq！

更新源：

sudo apt-get update

更新軟件：

sudo apt-get dist-upgrade sudo apt-get upgrade

可以看到速度很快。

使用ros的話，通過pip安裝一下rospy包

pip install rospkg pip install catkin-tools

至此，ros基本上配置好了。

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