# 一、学习网站

http://wiki.ros.org/ROS/Tutorialsopen in new window

# 二、ROS安装过程

![[../15Linux/ubuntu/photo/1.png]] ![[../15Linux/ubuntu/photo/2.png]]

# Setup your sources.list

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

# Set up your keys

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 

# Installation

First, make sure your Debian package index is up-to-date:

sudo apt update

# Desktop-Full Install: (Recommended)

sudo apt install ros-noetic-desktop-full

安装失败可能需要输入一下命令：

sudo apt update --fix-missing

There are even more packages available in ROS. You can always install a specific package directly.

apt install ros-noetic-slam-gmapping

To find available packages, see ROS Indexopen in new window or use:

apt search ros-noetic

# Environment setup

You must source this script in every bash terminal you use ROS in.

source /opt/ros/noetic/setup.bash

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

# Dependencies for building packages

To install this tool and other dependencies for building ROS packages, run:

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

Before you can use many ROS tools, you will need to initialize rosdep. rosdep enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS

sudo apt install python3-rosdep

With the following, you can initialize rosdep.

sudo rosdep init
rosdep update

# 三、ROS IDE

# 官方网站open in new window不太好进

roboware相当于一个专门适配ROS的vscode，功能性十分强大，几乎所有与ROS相关的操作都可以在IDE中完成。目前官网已经挂掉，可以选择百度云安装： https://pan.baidu.com/s/1D169dFyf2OD3SFBZVZy3pQ密码：3iukopen in new window 或者去github上下载安装。 地址：[github Roboware][https://github.com/TonyRobotics/RoboWareopen in new window] ![[../15Linux/ubuntu/photo/6.png]]

1.为了支持Python调试功能，需要安装pylint：

sudo apt-get install python3-pip
sudo python3 -m pip install pylint

如果出现问题,可能是安装源的问题： pip install -i https://pypi.tuna.tsinghua.edu.cn/simple pylint

2.为了获得更好的代码阅读体验，自动格式化整理代码，需要安装clang-format

sudo apt-get install clang-format

3.将下载好的压缩包移到一个文件夹里面，在该文件夹里打开终端

在这个目录下，打开terminal

![[../15Linux/ubuntu/photo/7.png]] 输入：

sudo dpkg -i roboware-studio_1.1.0-1514335284_amd64.deb #下载的版本号 ![[../15Linux/ubuntu/photo/8.png]] 最后发现unbuntu20.04，始终打不开，使用

sudo apt --fix-broken install

也打不开

网上说20.04不支持roboware

# 四、注意事项

linux 有两种安装方式： 1.sudo apt....之类的，二进制方式，这种是没有源代码的 2.另一种是源代码安装，需要编译make,sudo make install

# 五、编译python无效

在启动velocity_publisher.py时出现：/usr/bin/env: ‘python’: No such file or directory

查看已安装的python版本，是已安装的。

python3 --version

查找python3的安装位置：

whereis python3

为其创建符号连接：

sudo ln -s /usr/bin/python3 /usr/bin/python