ROS总结——Indigo安装
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在Ubuntu 14.04中安装ROS Indigo
本博客是对http://wiki.ros.org/上ROS教程的学习总结，欢迎大家交流学习。
1.配置软件仓库
在软件和更新中，配置Ubuntu 软件仓库(repositories) 以允许 “restricted”、”universe” 和 “multiverse”这三种安装模式。
2.添加 sources.list及keys
ROS Indigo 仅支持 Saucy (13.10) 和 Trusty (14.04)，执行下面命令(如果网速不好，自行更改国内外镜像)：
$ 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://pool.sks-keyservers.net --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
3.安装
执行下面命令进行安装：
$ sudo apt-get update
ROS中有很多各种函数库和工具，提供了四种安装方式:桌面完整版安装、桌面版安装、基础版安装、单个软件包安装，下面分别对应各自的安装命令：
$ sudo apt-get install ros-indigo-desktop-full
$ sudo apt-get install ros-indigo-desktop
$ sudo apt-get install ros-indigo-ros-base
$ sudo apt-get install ros-indigo-PACKAGE
eg:
$ sudo apt-get install ros-indigo-slam-gmapping
要查找可用软件包，请运行：
$ apt-cache search ros-indigo
4.初始化 rosdep及环境设置
$ sudo rosdep init
$ rosdep update
在~/.bashrc文件，写入下面命令
source /opt/ros/indigo/setup.bash
5.安装 rosinstall
rosinstall 是ROS中一个独立分开的常用命令行工具，可以通过一条命令就给某个ROS软件包下载很多源码树，其安装命令：
$ sudo apt-get install python-rosinstall
6.验证Indigo是否安装成功
执行命令roscore，测试是否安装成功，如果安装成功，测试效果如下：
$ roscore
... logging to /home/yongqiang/.ros/log/285bd20a-0345-11e7-b3dc-dc0ea16e8f33/roslaunch-ubuntu-9088.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://localhost:56483/
ros_comm version 1.11.20
SUMMARY
========
PARAMETERS
* /rosdistro: indigo
* /rosversion: 1.11.20
NODES
auto-starting new master
process[master]: started with pid [9100]
ROS_MASTER_URI=http://localhost:11311/
setting /run_id to 285bd20a-0345-11e7-b3dc-dc0ea16e8f33
process[rosout-1]: started with pid [9113]
started core service [/rosout]
如果出现这种情况：
... logging to /home/yongqiang/.ros/log/9f81acce-0345-11e7-a020-dc0ea16e8f33/roslaunch-ubuntu-9323.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
Unable to contact my own server at [http://ubuntu:37948/].
This usually means that the network is not configured properly.
A common cause is that the machine cannot ping itself. Please check
for errors by running:
ping ubuntu
For more tips, please see
http://www.ros.org/wiki/ROS/NetworkSetup
The traceback for the exception was written to the log file
检查.bashrc中的source /opt/ros/indigo/setup.bash是否在export的后面以及配置ros地址:
$ export ROS_HOSTNAME=localhost
$ export ROS_MASTER_URI=http://localhost:11311
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