【Ubuntu16.04】ROS環境構築
以下にROSの環境構築のコマンドを記述します。
$ sudo apt install git $ git clone https://github.com/ryuichiueda/ros_setup_scripts_Ubuntu16.04_desktop $ cd ros_setup_scripts_Ubuntu16.04_desktop/ $ ./step0.bash $ ./step1.bash $ source ~/.bashrc $ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' $ source ~/.bashrc $ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 $ sudo apt-get update $ sudo apt-get install ros-kinetic-desktop-full $ sudo rosdep init $ rosdep update $ echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc $ source ~/.bashrc
最後、rebootしないと以下のコマンドを正常に実行できません。
$ reboot
$ roscore と打って以下のように表示されたら環境構築は終了です。
$ roscore ... logging to /home/atsuya/.ros/log/54354e3e-641d-11e9-98f5-08002716ba6e/roslaunch-atsuya-VirtualBox-1915.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:41625/ ros_comm version 1.12.14 SUMMARY ======== PARAMETERS * /rosdistro: kinetic * /rosversion: 1.12.14 NODES auto-starting new master process[master]: started with pid [1926] ROS_MASTER_URI=http://localhost:11311/ setting /run_id to 54354e3e-641d-11e9-98f5-08002716ba6e process[rosout-1]: started with pid [1939] started core service [/rosout]