快速部署Noetic开发环境

随着ROS的发展，每个Ubuntu版本对应了不同的ROS版本，如Ubuntu18支持melodic，而Ubuntu20支持noetic，上一篇介绍了melodic的快速部署，这一篇介绍基于ubuntu20的noetic快速部署，如下：

一、设置ROS的国内源

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

二、安装ROS Key

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

三、更新

sudo apt update

sudo apt --yes --force-yes upgrade

四、安装noetic

sudo apt-get --yes --force-yes install ros-noetic-desktop-full

五、配置环境

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

source ~/.bashrc

六、安装ROS相关Python包

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

七、安装rosdepc

sudo apt-get --yes install python3-pip

sudo pip install rosdepc

sudo rosdepc init

rosdepc update

八、安装ROS相关组件

sudo apt-get update

sudo apt-get --yes install ros-noetic-joy ros-noetic-costmap-2d ros-noetic-nav-core ros-noetic-sound-play ros-noetic-amcl ros-noetic-slam-gmapping ros-noetic-move-base ros-noetic-controller-interface ros-noetic-gazebo-ros-control ros-noetic-joint-state-controller ros-noetic-effort-controllers ros-noetic-moveit-msgs ros-noetic-teleop-twist-keyboard ros-noetic-slam-gmapping ros-noetic-map-server ros-noetic-qt-gui ros-noetic-kdl-parser ros-noetic-combined-robot-hw ros-noetic-combined-robot-hw-tests ros-noetic-controller-manager ros-noetic-diff-drive-controller ros-noetic-force-torque-sensor-controller ros-noetic-gripper-action-controller ros-noetic-imu-sensor-controller ros-noetic-position-controllers ros-noetic-ros-control ros-noetic-ros-controllers ros-noetic-rqt-joint-trajectory-controller ros-noetic-velocity-controllers ros-noetic-cv-bridge ros-noetic-polled-camera ros-noetic-camera-info-manager ros-noetic-tf-conversions ros-noetic-opencv-apps libopencv-dev ros-noetic-rqt ros-noetic-rqt-common-plugins ros-noetic-ur-client-library

九、创建ROS工作空间

source ~/.bashrc

mkdir -p ~/ros_ws/src

cd ~/ros_ws/src

catkin_init_workspace

cd ..

catkin_make

catkin_make install

echo “source ~/ros_ws/devel/setup.bash” >> ~/.bashrc

source ~/.bashrc