Ubuntu 16.04 安裝 ROS
阿新 • • 發佈：2019-02-15
Robot Operating System (ROS) 是一個得到廣泛應用機器人系統的軟體框架，它包含了一系列的軟體庫和工具用於構建機器人應用。從驅動到最先進的演算法，以及強大的開發者工具，ROS 包含了開發一個機器人專案所需要的所有東西。且它們都是開源的。
ROS 雖然名為機器人作業系統，但它與我們一般概念中的作業系統，如 Windows，Linux，iOS 和 Android 這些。Windows，Linux，iOS 和 Android 這些作業系統為我們管理計算機的物理硬體資源，如 CPU、記憶體、磁碟、網路及外設，提供如程序、執行緒和檔案這樣的抽象，並提供如讀檔案、寫檔案、建立程序、建立執行緒及啟動執行緒這樣的操作。ROS 所工作的層級並沒有這麼低，它基於一般概念中的作業系統來執行，官方推薦基於 Ubuntu Linux 執行，並在 Ubuntu Linux 作業系統提供的抽象和操作的基礎之上，提供了更高層的抽象，如節點、服務、訊息、主題等，以及更高層的操作，如主題的釋出、主題的訂閱、服務的查詢與連線等操作。同時 ROS 還提供開發機器人專案所需的工具和功能庫。
ROS 發行版是一個版本標識的 ROS 包集合，這些與 Linux 發行版（如 Ubuntu）類似。ROS 發行版的目的是讓開發者可以基於一個相對穩定的程式碼庫來工作，直到他們可以平穩地向前演進。一旦發行版釋出，官方就會限制對其的改動，而僅僅提供對於核心包的 bug fixes 和非破壞性的增強。
當前（2018-01-28） ROS 系統已經發布了多個版本。ROS 最新的一些版本如下：
| ROS 系統版本 | 時間釋出 | 支援時間 |
|---|---|---|
| May 23rd, 2016 | LTS，April, 2021 (Xenial EOL) | |
| May 23rd, 2015 | May, 2017 | |
| July 22nd, 2014 | LTS，April, 2019(Trusty EOL) | |
| September 4th, 2013 | May, 2015 |
ROS 基本上保持每年一個新版本，每兩年一個長期發行版的釋出節奏。關於 ROS 版本釋出的更多內容，如更多的發行版的介紹，釋出的計劃等，可以參考 ROS 官方站點的 Distributions 主頁。
目前官方推薦使用最近的一個長期支援版本，即 ROS Kinetic Kame，求新的同時兼顧穩定性無疑應該採用這一版本，如果想要嘗試最新的功能特性則可以使用最新的發行版 ROS Lunar Loggerhead
ROS 的安裝步驟如下。
配置 Ubuntu 倉庫
配置 Ubuntu 倉庫，以允許 “restricted”，”universe” 和 “multiverse”。開啟 新立得包管理器，如下圖：
選擇 設定 -> 軟體庫(R)，彈出如下對話方塊：
開啟 “Ubuntu 軟體” Tab 頁，勾選 “restricted”，”universe” 和 “multiverse” 等選項，如上圖所示。通常情況下，這些選項都是預設選中的，因此這一步一般不會遇到什麼問題。
設定 sources.list
為 Ubuntu 的包管理器增加源，設定計算機接受來自於 packages.ros.org 的軟體。
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'這一步會根據 Ubuntu Linux 發行版本的不同，新增不同的源。Ubuntu 的版本通過 lsb_release -sc 獲得。
一旦添加了正確的軟體庫，作業系統就知道去哪裡下載程式，並根據命令自動安裝軟體。
設定金鑰
這一步是為了確認原始碼是正確的，並且沒有人在未經所有者授權的情況下，修改任何程式程式碼。通常情況下，當新增完軟體庫時，已經添加了軟體庫的金鑰，並將其新增到作業系統的可信任列表中。
設定金鑰的命令如下：
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116如果在連線金鑰伺服器時遇到了問題，可以嘗試在上面的命令中用 hkp://pgp.mit.edu:80 或 hkp://keyserver.ubuntu.com:80 來替換。
安裝
首先，需要確保包管理器的索引已經更新至最新：
sudo apt-get updateROS 中有非常多不同的庫和工具。官方提供了四種預設的配置來安裝 ROS。也可以獨立地安裝 ROS 包。
桌面完整安裝（推薦採用）：ROS，rqt, rviz，機器人通用庫，2D/3D 模擬器，導航及 2D/3D 感知
$ sudo apt-get install ros-kinetic-desktop-full
正在讀取軟體包列表... 完成
正在分析軟體包的依賴關係樹
正在讀取狀態資訊... 完成
. . . . . .
將會同時安裝下列軟體：
binfmt-support blt cpp-5 docutils-common docutils-doc fltk1.3-doc fluid fonts-lyx freeglut3 freeglut3-dev g++-5
g++-5-multilib gazebo7 gazebo7-common gazebo7-plugin-base gcc-5 gcc-5-base gcc-5-base:i386 gcc-5-multilib
gfortran gfortran-5 hddtemp hdf5-helpers lib32asan2 lib32atomic1 lib32cilkrts5 lib32gcc-5-dev lib32gomp1
lib32itm1 lib32mpx0 lib32quadmath0 lib32stdc++-5-dev lib32stdc++6 lib32ubsan0 libaec-dev libaec0 libapr1-dev
libaprutil1-dev libarmadillo6 libarpack2 libasan2 libassimp-dev libassimp3v5 libatomic1 libavcodec-dev
libavformat-dev libavutil-dev libblas-dev libboost-all-dev libboost-atomic-dev libboost-atomic1.58-dev
libboost-atomic1.58.0 libboost-chrono-dev libboost-chrono1.58-dev libboost-chrono1.58.0 libboost-context-dev
libboost-context1.58-dev libboost-context1.58.0 libboost-coroutine-dev libboost-coroutine1.58-dev
libboost-coroutine1.58.0 libboost-date-time-dev libboost-date-time1.58-dev libboost-dev libboost-exception-dev
libboost-exception1.58-dev libboost-filesystem-dev libboost-filesystem1.58-dev libboost-graph-dev
libboost-graph-parallel-dev libboost-graph-parallel1.58-dev libboost-graph-parallel1.58.0
libboost-graph1.58-dev libboost-graph1.58.0 libboost-iostreams-dev libboost-iostreams1.58-dev
libboost-locale-dev libboost-locale1.58-dev libboost-locale1.58.0 libboost-log-dev libboost-log1.58-dev
libboost-log1.58.0 libboost-math-dev libboost-math1.58-dev libboost-math1.58.0 libboost-mpi-dev
libboost-mpi-python-dev libboost-mpi-python1.58-dev libboost-mpi-python1.58.0 libboost-mpi1.58-dev
libboost-mpi1.58.0 libboost-program-options-dev libboost-program-options1.58-dev libboost-python-dev
libboost-python1.58-dev libboost-python1.58.0 libboost-random-dev libboost-random1.58-dev libboost-random1.58.0
libboost-regex-dev libboost-regex1.58-dev libboost-regex1.58.0 libboost-serialization-dev
libboost-serialization1.58-dev libboost-serialization1.58.0 libboost-signals-dev libboost-signals1.58-dev
libboost-signals1.58.0 libboost-system-dev libboost-system1.58-dev libboost-test-dev libboost-test1.58-dev
libboost-test1.58.0 libboost-thread-dev libboost-thread1.58-dev libboost-timer-dev libboost-timer1.58-dev
libboost-timer1.58.0 libboost-tools-dev libboost-wave-dev libboost-wave1.58-dev libboost-wave1.58.0
libboost1.58-dev libboost1.58-tools-dev libbulletcollision2.83.6 libbulletdynamics2.83.6 libcc1-0 libcilkrts5
libcollada-dom2.4-dp-dev libcollada-dom2.4-dp0 libconsole-bridge-dev libconsole-bridge0.2v5
libcurl4-openssl-dev libdap-dev libdap17v5 libdapclient6v5 libdapserver7v5 libeigen3-dev libepsilon1
libflann-dev libflann1.8 libfltk-cairo1.3 libfltk-forms1.3 libfltk-gl1.3 libfltk-images1.3 libfltk1.3
libfltk1.3-dev libfreeimage-dev libfreeimage3 libfreexl1 libgazebo7 libgazebo7-dev libgcc-5-dev libgdal-dev
libgdal1i libgeos-3.5.0 libgeos-c1v5 libgeos-dev libgfortran-5-dev libgfortran3 libgif-dev libgl2ps-dev
libgl2ps0 libglade2-0 libgomp1 libgtest-dev libgts-0.7-5 libgts-bin libgts-dev libhdf4-0-alt libhdf4-alt-dev
libhdf5-10 libhdf5-cpp-11 libhdf5-dev libhdf5-mpi-dev libhdf5-openmpi-10 libhdf5-openmpi-dev libhwloc-dev
libhwloc-plugins libhwloc5 libibverbs-dev libibverbs1 libignition-math2 libignition-math2-dev libinput-bin
libinput-dev libinput10 libitm1 libjasper-dev libjbig-dev libjs-jquery-ui libjsoncpp-dev libjxr0 libkmlbase1
libkmldom1 libkmlengine1 liblapack-dev libldap2-dev liblinearmath2.83.6 liblog4cxx-dev liblog4cxx10-dev
liblog4cxx10v5 liblsan0 liblz4-dev liblzma-dev libminizip1 libmpx0 libmysqlclient-dev libmysqlclient20
libnetcdf-c++4 libnetcdf-cxx-legacy-dev libnetcdf-dev libnetcdf11 libnuma-dev libodbc1 libogdi3.2 libogg-dev
libogre-1.9-dev libogre-1.9.0v5 libopenjp2-7 libopenmpi-dev libopenmpi1.10 libopenni-dev
libopenni-sensor-pointclouds0 libopenni0 libpcl-apps1.7 libpcl-common1.7 libpcl-dev libpcl-features1.7
libpcl-filters1.7 libpcl-io1.7 libpcl-kdtree1.7 libpcl-keypoints1.7 libpcl-octree1.7 libpcl-outofcore1.7
libpcl-people1.7 libpcl-recognition1.7 libpcl-registration1.7 libpcl-sample-consensus1.7 libpcl-search1.7
libpcl-segmentation1.7 libpcl-surface1.7 libpcl-tracking1.7 libpcl-visualization1.7 libpcl1.7 libpoco-dev
libpococrypto9v5 libpocodata9v5 libpocofoundation9v5 libpocomysql9v5 libpoconet9v5 libpoconetssl9v5
libpocoodbc9v5 libpocosqlite9v5 libpocoutil9v5 libpocoxml9v5 libpocozip9v5 libpq-dev libproj-dev libproj9
libprotoc-dev libprotoc9v5 libpyside-py3-2.0 libpyside2-dev libpyside2.0 libqhull-dev libqhull7 libqt4-dev
libqt4-dev-bin libqt4-help libqt4-opengl-dev libqt4-scripttools libqt4-test libqt5clucene5 libqt5concurrent5
libqt5core5a libqt5dbus5 libqt5designer5 libqt5designercomponents5 libqt5gui5 libqt5help5
libqt5multimediaquick-p5 libqt5network5 libqt5opengl5 libqt5opengl5-dev libqt5printsupport5
libqt5quickparticles5 libqt5scripttools5 libqt5sql5 libqt5svg5-dev libqt5test5 libqt5webkit5-dev libqt5widgets5
libqt5x11extras5-dev libqt5xml5 libqt5xmlpatterns5 libqt5xmlpatterns5-dev libqt5xmlpatterns5-private-dev
libqtwebkit-dev libquadmath0 libsdformat4 libsdformat4-dev libshiboken-py3-2.0 libshiboken2-dev libshiboken2.0
libsimbody-dev libsimbody3.5v5 libspatialite-dev libspatialite7 libspnav0 libstdc++-5-dev libstdc++6
libstdc++6:i386 libsuperlu4 libswresample-dev libswscale-dev libsz2 libtar-dev libtar0 libtbb-dev libtheora-dev
libtiff5-dev libtiffxx5 libtinyxml-dev libtinyxml2-2v5 libtinyxml2-dev libtsan0 libubsan0 liburdfdom-dev
liburdfdom-headers-dev liburdfdom-model-state0.4 liburdfdom-model0.4 liburdfdom-sensor0.4 liburdfdom-tools
liburdfdom-world0.4 liburiparser1 libusb-1.0-0-dev libusb-1.0-doc libuuid1 libvtk-java libvtk5.10 libvtk6-dev
libvtk6-java libvtk6-qt-dev libvtk6.2 libvtk6.2-qt libwacom-bin libwacom-common libwacom2 libwebp-dev
libwebpdemux1 libx32asan2 libx32atomic1 libx32cilkrts5 libx32gcc-5-dev libx32gomp1 libx32itm1 libx32quadmath0
libx32stdc++-5-dev libx32stdc++6 libx32ubsan0 libxerces-c-dev libxerces-c3.1 libxmu-dev libxmu-headers
libyaml-cpp-dev libzzip-0-13 mpi-default-bin mpi-default-dev ocl-icd-libopencl1 odbcinst odbcinst1debian2
openmpi-bin openmpi-common openni-utils proj-bin proj-data pyqt5-dev python-attr python-autobahn
python-catkin-pkg python-catkin-pkg-modules python-chardet python-concurrent.futures python-cycler
python-defusedxml python-docutils python-ecdsa python-empy python-glade2 python-gobject-2 python-gtk2
python-imaging python-lz4 python-matplotlib python-matplotlib-data python-mpi4py python-msgpack
python-netifaces python-nose python-opengl python-pam python-paramiko python-pil python-pyasn1-modules
python-pydot python-pygments python-pyqt5 python-pyqt5.qtopengl python-pyqt5.qtsvg python-pyqt5.qtwebkit
python-pyside2 python-pyside2.qtconcurrent python-pyside2.qtcore python-pyside2.qtgui python-pyside2.qthelp
python-pyside2.qtnetwork python-pyside2.qtprintsupport python-pyside2.qtqml python-pyside2.qtquick
python-pyside2.qtquickwidgets python-pyside2.qtscript python-pyside2.qtsql python-pyside2.qtsvg
python-pyside2.qttest python-pyside2.qtuitools python-pyside2.qtwebkit python-pyside2.qtwebkitwidgets
python-pyside2.qtwidgets python-pyside2.qtx11extras python-pyside2.qtxml python-roman python-rosdep
python-rosdistro python-rosdistro-modules python-rospkg python-rospkg-modules python-serial
python-service-identity python-sip python-sip-dev python-snappy python-tk python-trollius python-twisted
python-twisted-bin python-twisted-core python-txaio python-vtk6 python-wxgtk3.0 python-wxtools python-wxversion
python-zope.interface qt4-linguist-tools qt4-qmake qt5-qmake qtbase5-dev qtbase5-dev-tools qtbase5-private-dev
qtdeclarative5-dev qtdeclarative5-private-dev qtmultimedia5-dev qtscript5-dev qtscript5-private-dev
qttools5-dev qttools5-dev-tools qttools5-private-dev ros-kinetic-actionlib ros-kinetic-actionlib-msgs
ros-kinetic-actionlib-tutorials ros-kinetic-angles ros-kinetic-bond ros-kinetic-bond-core ros-kinetic-bondcpp
ros-kinetic-bondpy ros-kinetic-camera-calibration ros-kinetic-camera-calibration-parsers
ros-kinetic-camera-info-manager ros-kinetic-catkin ros-kinetic-class-loader ros-kinetic-cmake-modules
ros-kinetic-collada-parser ros-kinetic-collada-urdf ros-kinetic-common-msgs ros-kinetic-common-tutorials
ros-kinetic-compressed-depth-image-transport ros-kinetic-compressed-image-transport ros-kinetic-control-msgs
ros-kinetic-cpp-common ros-kinetic-cv-bridge ros-kinetic-depth-image-proc ros-kinetic-desktop
ros-kinetic-diagnostic-aggregator ros-kinetic-diagnostic-analysis ros-kinetic-diagnostic-common-diagnostics
ros-kinetic-diagnostic-msgs ros-kinetic-diagnostic-updater ros-kinetic-diagnostics
ros-kinetic-dynamic-reconfigure ros-kinetic-eigen-conversions ros-kinetic-eigen-stl-containers
ros-kinetic-executive-smach ros-kinetic-filters ros-kinetic-gazebo-dev ros-kinetic-gazebo-msgs
ros-kinetic-gazebo-plugins ros-kinetic-gazebo-ros ros-kinetic-gazebo-ros-pkgs ros-kinetic-gencpp
ros-kinetic-geneus ros-kinetic-genlisp ros-kinetic-genmsg ros-kinetic-gennodejs ros-kinetic-genpy
ros-kinetic-geometric-shapes ros-kinetic-geometry ros-kinetic-geometry-msgs ros-kinetic-geometry-tutorials
ros-kinetic-gl-dependency ros-kinetic-image-common ros-kinetic-image-geometry ros-kinetic-image-pipeline
ros-kinetic-image-proc ros-kinetic-image-publisher ros-kinetic-image-rotate ros-kinetic-image-transport
ros-kinetic-image-transport-plugins ros-kinetic-image-view ros-kinetic-interactive-marker-tutorials
ros-kinetic-interactive-markers ros-kinetic-joint-state-publisher ros-kinetic-kdl-conversions
ros-kinetic-kdl-parser ros-kinetic-laser-assembler ros-kinetic-laser-filters ros-kinetic-laser-geometry
ros-kinetic-laser-pipeline ros-kinetic-librviz-tutorial ros-kinetic-map-msgs ros-kinetic-media-export
ros-kinetic-message-filters ros-kinetic-message-generation ros-kinetic-message-runtime ros-kinetic-mk
ros-kinetic-nav-msgs ros-kinetic-nodelet ros-kinetic-nodelet-core ros-kinetic-nodelet-topic-tools
ros-kinetic-nodelet-tutorial-math ros-kinetic-octomap ros-kinetic-opencv3 ros-kinetic-orocos-kdl
ros-kinetic-pcl-conversions ros-kinetic-pcl-msgs ros-kinetic-pcl-ros ros-kinetic-perception
ros-kinetic-perception-pcl ros-kinetic-pluginlib ros-kinetic-pluginlib-tutorials ros-kinetic-polled-camera
ros-kinetic-python-orocos-kdl ros-kinetic-python-qt-binding ros-kinetic-qt-dotgraph ros-kinetic-qt-gui
ros-kinetic-qt-gui-cpp ros-kinetic-qt-gui-py-common ros-kinetic-qwt-dependency ros-kinetic-random-numbers
ros-kinetic-resource-retriever ros-kinetic-robot ros-kinetic-robot-model ros-kinetic-robot-state-publisher
ros-kinetic-ros ros-kinetic-ros-base ros-kinetic-ros-comm ros-kinetic-ros-core ros-kinetic-ros-tutorials
ros-kinetic-rosbag ros-kinetic-rosbag-migration-rule ros-kinetic-rosbag-storage ros-kinetic-rosbash
ros-kinetic-rosboost-cfg ros-kinetic-rosbuild ros-kinetic-rosclean ros-kinetic-rosconsole
ros-kinetic-rosconsole-bridge ros-kinetic-roscpp ros-kinetic-roscpp-core ros-kinetic-roscpp-serialization
ros-kinetic-roscpp-traits ros-kinetic-roscpp-tutorials ros-kinetic-roscreate ros-kinetic-rosgraph
ros-kinetic-rosgraph-msgs ros-kinetic-roslang ros-kinetic-roslaunch ros-kinetic-roslib ros-kinetic-roslint
ros-kinetic-roslisp ros-kinetic-roslz4 ros-kinetic-rosmake ros-kinetic-rosmaster ros-kinetic-rosmsg
ros-kinetic-rosnode ros-kinetic-rosout ros-kinetic-rospack ros-kinetic-rosparam ros-kinetic-rospy
ros-kinetic-rospy-tutorials ros-kinetic-rosservice ros-kinetic-rostest ros-kinetic-rostime ros-kinetic-rostopic
ros-kinetic-rosunit ros-kinetic-roswtf ros-kinetic-rqt-action ros-kinetic-rqt-bag ros-kinetic-rqt-bag-plugins
ros-kinetic-rqt-common-plugins ros-kinetic-rqt-console ros-kinetic-rqt-dep ros-kinetic-rqt-graph
ros-kinetic-rqt-gui ros-kinetic-rqt-gui-cpp ros-kinetic-rqt-gui-py ros-kinetic-rqt-image-view
ros-kinetic-rqt-launch ros-kinetic-rqt-logger-level ros-kinetic-rqt-moveit ros-kinetic-rqt-msg
ros-kinetic-rqt-nav-view ros-kinetic-rqt-plot ros-kinetic-rqt-pose-view ros-kinetic-rqt-publisher
ros-kinetic-rqt-py-common ros-kinetic-rqt-py-console ros-kinetic-rqt-reconfigure
ros-kinetic-rqt-robot-dashboard ros-kinetic-rqt-robot-monitor ros-kinetic-rqt-robot-plugins
ros-kinetic-rqt-robot-steering ros-kinetic-rqt-runtime-monitor ros-kinetic-rqt-rviz
ros-kinetic-rqt-service-caller ros-kinetic-rqt-shell ros-kinetic-rqt-srv ros-kinetic-rqt-tf-tree
ros-kinetic-rqt-top ros-kinetic-rqt-topic ros-kinetic-rqt-web ros-kinetic-rviz
ros-kinetic-rviz-plugin-tutorials ros-kinetic-rviz-python-tutorial ros-kinetic-self-test
ros-kinetic-sensor-msgs ros-kinetic-shape-msgs ros-kinetic-simulators ros-kinetic-smach ros-kinetic-smach-msgs
ros-kinetic-smach-ros ros-kinetic-smclib ros-kinetic-stage ros-kinetic-stage-ros ros-kinetic-std-msgs
ros-kinetic-std-srvs ros-kinetic-stereo-image-proc ros-kinetic-stereo-msgs ros-kinetic-tf
ros-kinetic-tf-conversions ros-kinetic-tf2 ros-kinetic-tf2-eigen ros-kinetic-tf2-geometry-msgs
ros-kinetic-tf2-kdl ros-kinetic-tf2-msgs ros-kinetic-tf2-py ros-kinetic-tf2-ros
ros-kinetic-theora-image-transport ros