Ubuntu 20.04安装ROS1 noetic虚拟机

最新推荐文章于 2025-04-04 00:30:17 发布

winstongit

最新推荐文章于 2025-04-04 00:30:17 发布

阅读量397

点赞数 5

分类专栏：移动机器人文章标签：机器人

本文链接：https://blog.youkuaiyun.com/wanjunyou/article/details/143376729

版权

移动机器人专栏收录该内容

17 篇文章

订阅专栏

一.vmware tools不正常，无法复制windows内容到虚拟机

1.查看vmware tools的版本

vmware-toolbox-cmd -v
11.3.0.29534 (build-18090558)

2.查看vmware tools的状态

systemctl status vmtoolsd 
● open-vm-tools.service - Service for virtual machines hosted on VMware
     Loaded: loaded (/lib/systemd/system/open-vm-tools.service; enabled; vendor>
    Drop-In: /usr/lib/systemd/system/open-vm-tools.service.d
             └─desktop.conf
     Active: active (running) since Wed 2024-10-30 20:59:49 CST; 1h 24min ago
       Docs: http://open-vm-tools.sourceforge.net/about.php
   Main PID: 752 (vmtoolsd)
      Tasks: 4 (limit: 2235)
     Memory: 3.4M
     CGroup: /system.slice/open-vm-tools.service
             └─752 /usr/bin/vmtoolsd

Oct 30 20:59:49 ubuntu systemd[1]: Starting Service for virtual machines hosted>
Oct 30 20:59:49 ubuntu systemd[1]: Started Service for virtual machines hosted >
lines 1-14/14 (END)

3.重新安装vmware tools

sudo apt-get autoremove open-vm-tools
sudo apt-get install open-vm-tools
sudo apt-get install open-vm-tools-desktop

执行3的操作后，问题解决

二.Ubuntu 20.04安装ROS1 noetic

ROS官方安装步骤 noetic/Installation/Ubuntu - ROS Wiki

设置安装源

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

设置key

sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

更新安装源

sudo apt update

报错如下

Hit:1 http://us.archive.ubuntu.com/ubuntu focal InRelease                    
Hit:2 http://us.archive.ubuntu.com/ubuntu focal-updates InRelease            
Hit:3 http://security.ubuntu.com/ubuntu focal-security InRelease
Hit:4 http://us.archive.ubuntu.com/ubuntu focal-backports InRelease
Get:5 http://packages.ros.org/ros/ubuntu focal InRelease [4,679 B]
Err:5 http://packages.ros.org/ros/ubuntu focal InRelease
  The following signatures couldn't be verified because the public key is not available: NO_PUBKEY F42ED6FBAB17C654
Reading package lists... Done
W: GPG error: http://packages.ros.org/ros/ubuntu focal InRelease: The following signatures couldn't be verified because the public key is not available: NO_PUBKEY F42ED6FBAB17C654
E: The repository 'http://packages.ros.org/ros/ubuntu focal InRelease' is not signed.
N: Updating from such a repository can't be done securely, and is therefore disabled by default.
N: See apt-secure(8) manpage for repository creation and user configuration details.

再次执行以下命令

sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

问题解决

安装neotic桌面完整版

sudo apt install ros-noetic-desktop-full

安装时间比较长

添加环境变量

执行gedit ~/.bashrc 添加

source /opt/ros/noetic/setup.bash

验证ROS

roscore
.. logging to /home/ros1/.ros/log/67f442ce-96c9-11ef-9c1f-794492328c70/roslaunch-ubuntu-20182.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:37425/
ros_comm version 1.17.0