ubuntu2004 ROS1安装

ubuntu初始环境配置ROS1

1.换源并更新数据库

ubuntu2004换源

# 备份原来的源并且另存
sudo cp -v /etc/apt/sources.list /etc/apt/sources.list.backup
# 执行chmod命令更改文件权限使软件源文件可编辑
sudo chmod 777 /etc/apt/sources.list
# 通过gedit命令编辑软件源：
sudo gedit /etc/apt/sources.list
# 执行上面命令后如果报sudo: gedit: command not found的错误，执行下面命令
sudo apt install vim vim /etc/apt/sources.list

打开源文件后，按 i 进入编辑模式将所有的代码删干净，然后复制粘贴你需要的镜像源，先按ECS键退出编辑，然后使用 :wq 命令退出编辑模式
换完源之后执行以下命令
sudo apt update
sudo apt upgrade
可复制如下的内容粘贴到sources.list中（复制其中一个源即可）

Ubuntu2004下装ROS1用下面这个
#添加阿里源
deb http://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse
#添加清华源
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted universe multiverse multiverse

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阿里云国内源Ubuntu
deb http://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiverse

阿里云国内源Ubuntu（包括预发布的源）
deb http://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse
#源码镜像
deb-src http://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse

2.清华大学源Ubuntu
# 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted universe multiverse

说明：
main 官方支持，自由软件。
restricted官方支持，非完全自由软件。
universe非官方支持，社区维护的自由软件。
multiverse非官方支持，非自由软件。
focal-proposed 为预发布软件源(如果为了稳定性不建议添加到更新源中)

2.配置ROS1

版本对应

Ubuntu	ROS 1.0	ROS 2.0
16.04 LTS	Kinetic LTS	Ardent
18.04 LTS	Melodic LTS	Dashing LTS
20.04 LTS	Noetic LTS	Foxy LTS

安装

• 配置公钥

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

• 系统更新

sudo apt-get update

• 安装ROS

# Ubuntu 20.04
sudo apt install ros-noetic-desktop-full

# Ubuntu 18.04
sudo apt install ros-melodic-desktop-full

• 配置（基于rosdepc）

sudo pip install rosdepc

如果显示没有pip可以试试pip3

sudo pip3 install rosdepc

如果pip3还没有

sudo apt-get install python3-pip
sudo pip install rosdepc -i http://pypi.douban.com/simple --trusted-host pypi.douban.com

使用

sudo rosdepc init
rosdepc update

环境配置（注意自己的版本号）

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

安装 rosinstall

sudo apt install python3-rosinstall python3-rosinstall-generator python3-wstool build-essential

3.安装终端多窗口分屏工具Terminator

下载：

sudo apt-get install terminator

运行：

terminator

常用快捷键：

Ctrl+Shift+E    垂直分割窗口
Ctrl+Shift+O    水平分割窗口
    F11         全屏
Ctrl+Shift+C    复制
Ctrl+Shift+V    粘贴
Ctrl+Shift+N    或者 Ctrl+Tab 在分割的各窗口之间切换
Ctrl+Shift+X    将分割的某一个窗口放大至全屏使用
Ctrl+Shift+Z    从放大至全屏的某一窗口回到多窗格界面

4.安装vim

安装：

sudo apt install vim

确认vim版本（确认是否安装成功）：

vim --version

5.vscode安装

安装：

snap install --classic code

插件安装：

chinese  # 中文
ROS      # ROS插件
cmake tools  # cmake插件
bracket