ROS系统的安装以及卸载

• ROS系统的安装

ROS系统的安装方式有两种，通过软件源和源码编译安装。软件源安装只需要通过简单的命令，因此，我们使用软件源来安装ROS

1. 配置系统软件源

打开Ubuntu软件中心的软件源配置界面，勾选restricted,universe,multiverse三个选项

软件源切换，安装过程出现问题的，一般与网络和软件源有关系，可以切换成手机热点试试 ，我改成阿里云的源，我的系统是16.04

sudo su     #输入密码
cd /etc/apt  #切换到apt源文件
mv  sources.list sources.list_bak  #备份源文件
vim sources.list  #新建一个，然后将下面的内容copy进去

# deb cdrom:[Ubuntu 16.04 LTS _Xenial Xerus_ - Release amd64 (20160420.1)]/ xenial main restricted
deb-src http://archive.ubuntu.com/ubuntu xenial main restricted #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial main restricted
deb-src http://mirrors.aliyun.com/ubuntu/ xenial main restricted multiverse universe #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted multiverse universe #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial universe
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates universe
deb http://mirrors.aliyun.com/ubuntu/ xenial multiverse
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates multiverse
deb http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse #Added by software-properties
deb http://archive.canonical.com/ubuntu xenial partner
deb-src http://archive.canonical.com/ubuntu xenial partner
deb http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted multiverse universe #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial-security universe
deb http://mirrors.aliyun.com/ubuntu/ xenial-security multiverse

sudo apt-get update

2.添加ROS软件源

打开终端，输入命令，国内的相对来说快一点

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

4 中山大学镜像源
5 sudo sh -c '. /etc/lsb-release && echo "deb http://mirror.sysu.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

3.添加密钥

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

4.安装ROS

 sudo apt-get update
 sudo apt-get install ros-kinetic-desktop-full

ROS系统版本众多，kinetic版本支持到2021年，Indigo版本支持到2019年，因此选择kinetic桌面完整版，它包括了ROS的核心功能，以及机器人地图建模，自主导航，rviz可视化工具，gazebo仿真环境，rqt工具箱等。

5.初始化rosdep

rosdep主要功能是为某些功能安装系统依赖

 sudo rosdep init
 rosdep update

6.设置环境变量

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

使用下面两条命令来查看环境变量是否设置好

 export | grep ROS
 env |grep ROS

7.安装rosinstall

 sudo apt-get install python-rosinstall

8.完成安装

ROS安装在/opt目录下

 运行roscore
 roscore

9.设置工作空间

 mkdir -p ~/catkin_ws/src
 cd ~/catkin_ws/src
 catkin_init_workspace
 cd ~/catkin_ws/ catkin_make
 source devel/setup.bash
7 检查所有环境变量,我们设置了两个，他们之间用：隔开
8 echo $ROS_PACKAGE_PATH

• ROS系统的卸载

 sudo apt-get remove ros-*

参考：胡春旭ROS机器人开发实践