ROS Installation (ROS安装与运行)

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## Synoposis - Install ROS, refer http://wiki.ros.org/ROS/Installation - Install ROS within docker --- 本文将介绍: - 如何安装ROS? - 如何在Docker中安装ROS? --- ## Preparation - Check system version using ``uname -a`` - Ubuntu 18.04: Melodic - Ubuntu 16.04: Kinetic # Installation ## Melodic ### Method 1 ```sh $ sudo apt update $ sudo apt upgrade $ wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros_melodic.sh $ chmod 755 ./install_ros_melodic.sh $ bash ./install_ros_melodic.sh ``` ### Method 2 ```sh sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 sudo apt update sudo apt install ros-melodic-desktop-full ``` ## Setup Environment bash: ```sh echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc source ~/.bashrc ``` zsh: ```sh echo "source /opt/ros/melodic/setup.zsh" >> ~/.zshrc source ~/.zshrc ``` - Install Dependencies for building packages ```sh sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential ``` - Initialize rosdep ```sh sudo apt install python-rosdep sudo rosdep init rosdep update ``` To find available packages, use: ```sh apt search ros-melodic ``` # Docker ```sh # Install packages to add ROS repository RUN apt-get install -y dirmngr gnupg2 # Add ROS repository RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu bionic main" > /etc/apt/sources.list.d/ros-latest.list' # Keys for ROS repository RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 ## Install ROS-Base packages RUN apt-get update && apt-get install -y ros-melodic-desktop-full # Install ROS bootstrap tools RUN apt-get update && apt-get install --no-install-recommends -y \ python-rosdep \ python-rosinstall \ python-vcstools # Set up rosdep RUN rosdep init RUN rosdep update ``` # Possible Errors ## ros-melodic-desktop-full ```sh The following packages have unmet dependencies: ros-melodic-desktop-full : Depends: ros-melodic-desktop but it is not going to be installed Depends: ros-melodic-perception but it is not going to be installed Depends: ros-melodic-simulators but it is not going to be installed Depends: ros-melodic-urdf-sim-tutorial but it is not going to be installed E: Unable to correct problems, you have held broken packages. ``` Solution ```sh sudo apt-get remove gazebo9* catkin python-rospkg python-rospkg-modules ``` Refer: https://answers.ros.org/question/299260/unmet-dependencies-when-installing-melodic-on-ubuntu-1804/ yubao_blog_cover

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