判断ROS版本号-ubuntu20.04安装ROS

判断ROS版本号-ROS安装-修改镜像源 linux版本:ubuntu20.04 ROS版本:noetic

判断ROS版本号
安装ROS
改镜像源

判断ROS版本号

机器人用的是树莓派、stm32、ros。

首先要配置网络，把机器人上的sd卡插到树莓派开发板上，然后配置连接的热点。

接下来，把sd卡插回机器人上的树莓派，开启热点，机器人将自动连接到热点。

使用MobaXterm_Personal软件，创建ssh连接。

首先开启一个终端，里面输入roscore：

    ┌──────────────────────────────────────────────────────────────────────┐│                 • MobaXterm Personal Edition v21.3 •                 ││               (SSH client, X server and network tools)               ││                                                                      ││ ➤ SSH session to lemon@192.168.137.189                               ││   • Direct SSH      :  ✔                                             ││   • SSH compression :  ✔                                             ││   • SSH-browser     :  ✔                                             ││   • X11-forwarding  :  ✔  (remote display is forwarded through SSH)  ││                                                                      ││ ➤ For more info, ctrl+click on help or visit our website.            │└──────────────────────────────────────────────────────────────────────┘Welcome to Ubuntu 20.04.2 LTS (GNU/Linux 5.4.0-1035-raspi aarch64)* Documentation:  https://help.ubuntu.com* Management:     https://landscape.canonical.com* Support:        https://ubuntu.com/advantageLast login: Sun Oct 24 12:03:52 2021 from 192.168.137.1
lemon@lemon:~$ roscore
... logging to /home/lemon/.ros/log/93e79cda-3486-11ec-a274-e94615cd611d/roslaunch-lemon-1399.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://lemon:40829/
ros_comm version 1.15.9SUMMARY
========PARAMETERS* /rosdistro: noetic* /rosversion: 1.15.9NODESauto-starting new master
process[master]: started with pid [1436]
ROS_MASTER_URI=http://lemon:11311/setting /run_id to 93e79cda-3486-11ec-a274-e94615cd611d
process[rosout-1]: started with pid [1462]
started core service [/rosout]

在开启另一个终端，里面输入rosparam list

再输入rosparam get /rosdistro

    ┌──────────────────────────────────────────────────────────────────────┐│                 • MobaXterm Personal Edition v21.3 •                 ││               (SSH client, X server and network tools)               ││                                                                      ││ ➤ SSH session to lemon@192.168.137.189                               ││   • Direct SSH      :  ✔                                             ││   • SSH compression :  ✔                                             ││   • SSH-browser     :  ✔                                             ││   • X11-forwarding  :  ✔  (remote display is forwarded through SSH)  ││                                                                      ││ ➤ For more info, ctrl+click on help or visit our website.            │└──────────────────────────────────────────────────────────────────────┘Welcome to Ubuntu 20.04.2 LTS (GNU/Linux 5.4.0-1035-raspi aarch64)* Documentation:  https://help.ubuntu.com* Management:     https://landscape.canonical.com* Support:        https://ubuntu.com/advantage
Last login: Sun Oct 24 12:45:37 2021 from 192.168.137.1
lemon@lemon:~$ rosparam list
/rosdistro
/roslaunch/uris/host_lemon__40829
/rosversion
/run_id
lemon@lemon:~$ rosparam get /rosdistro
'noetic'

然后就可以发现当前的ros版本是noetic。noetic是ROS1的最后一个长期支持版。

那么接下来，对ros进行研究，就继续在linux-ubuntu20.04版本下配置noetic版本的ros。

安装ROS

在VMware-linux-ubuntu20.04中，打开终端，按以下步骤输入指令。

1.添加ros源

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

2.增加key

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

3.上面如果添加不成功，可以如下增加key

curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | sudo apt-key add -

4.更新软件

sudo apt update

5.安装ros

sudo apt install ros-noetic-desktop-full

6.把ros环境加载脚本添加到bashrc

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

测试ROS：

开三个终端，分别写roscore、rosrun turtlesim turtlesim_node、rosrun turtlesim turtle_teleop_key

jym@ubuntu:~$ roscore
... logging to /home/jym/.ros/log/5b2a055c-34a1-11ec-b36c-ed0dd69260d5/roslaunch-ubuntu-32694.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:42685/
ros_comm version 1.15.13SUMMARY
========PARAMETERS* /rosdistro: noetic* /rosversion: 1.15.13NODESauto-starting new master
process[master]: started with pid [32705]
ROS_MASTER_URI=http://ubuntu:11311/setting /run_id to 5b2a055c-34a1-11ec-b36c-ed0dd69260d5
process[rosout-1]: started with pid [32715]
started core service [/rosout]

jym@ubuntu:~$ rosrun turtlesim turtlesim_node
[ INFO] [1635062998.850703821]: Starting turtlesim with node name /turtlesim
[ INFO] [1635062998.852881006]: Spawning turtle [turtle1] at x=[5.544445], y=[5.544445], theta=[0.000000]

jym@ubuntu:~$ rosrun turtlesim turtle_teleop_key
Reading from keyboard
---------------------------
Use arrow keys to move the turtle. 'q' to quit.

可以通过鼠标控制乌龟说明安装成功：

改镜像源

上面安装ros用了三个小时，太久了，所以现在就改一下镜像源。

提前安装好vim。

首先设置进入root权限：

输入sudo passwd root （注意passwd的拼写），再输入用户密码，接下来会让你设置root密码，并再次确认。

接下来输入su，再输入刚刚设置的root密码就可以进入root了。

之后想要退出输入exit即可。

然后设置完之后，开始：

1.备份原始文件

sudo cp /etc/apt/sources.list /etc/apt/sources.list.backup

2.编辑镜像源文件

vim /etc/apt/sources.list

在vim里面

删除所有代码 :0,$d

然后粘贴进去：

deb http://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiversedeb http://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiversedeb http://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiversedeb http://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiversedeb http://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse

保存并退出代码 :wq！

更新源：

sudo apt-get update

更新软件：

sudo apt-get dist-upgrade
sudo apt-get upgrade

可以看到速度很快。

使用ros的话，通过pip安装一下rospy包

pip install rospkg
pip install catkin-tools

至此，ros基本上配置好了。