Basic development environments require the installation of robotic operating systems ROS, MoveIt, and git version managers, which are described below.

ROS Installation

1.Choose version

ROS has a one-to-one relationship with ubuntu, and different versions of ubuntu correspond to different versions of ROS, the website below:http://wiki.ros.org/Distributions

If the version is different, the download will fail. The system we selected here is Ubuntu 16.04, corresponding to ros version ROS Kinetic Kame.

2.Begin installation

2.1.Add source

There are no ROS software sources in the list of Ubuntu's own software sources, so you need to configure the ROS software source into the software list repository first, then you can download ROS and open a console terminalCtrl+Alt+T),Enter the following instructions:

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

The results are as follows (the user password is required here, just enter the user password set when Ubuntu is installed) screenshot-1

2.2.Set the key

Configure the public network key, this step is to let the system confirm that our path is safe, so that download file is no problem, otherwise the download will be deleted immediately:

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

The results of the execution are as follows: screenshot-2

2.3.installation

After adding a new software source, update the list of software sources:

sudo apt-get update

install ROS:

sudo apt-get install ros-kinetic-desktop-full

It is recommended to install a complete ROS to prevent the loss of libraries and dependencies.

The installation process takes a long time and requires patience

2.4.Configure the ROS environment to the system

rosdep allows you to easily install the source code that you want to compile, or be dependent on some system that the ROS core components,need, and execute the following commands in turn at the terminal. Initialize rosdep:

sudo rosdep init
rosdep update

Once initialization is complete, in order to avoid having to re-take effect on the ROS functional path after each shutdown of the terminal window, we can configure the path into the environment variable so that the ROS functional path automatically takes effect each time a new terminal is opened. At the terminal, the following commands are executed in turn:

Bash

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

Zsh

echo "source /opt/ros/kinetic/setup.bash" >> ~/.zshrc
source ~/.zshrc

2.5.Install the ROS extra dependence

Enter the following command at the terminal:

sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential

3.Verify and installation

The start-up of the ROS system requires a ROS Master, the node manager, and we can enter the roscore instruction at the terminal to start the ROS Maste, to verify that the ROS was installed successfully, the following commands are executed at the terminal:

roscore

When the following interface is displayed, means the ROS installation is successful screenshot-3 For more detailed installation instructions, you can refer to the official installation instructions,website: http://wiki.ros.org/ROS/Installation

MoveIt Installation

MoveIt is the component of a series of mobile operations in ros, including motion planning, collision detection, kinematics, 3D awareness, operation control and other functions.

1.Update the list of software sources

Enter the following command in the terminal window to update the list of software sources:

sudo apt-get update

2.Install MoveIt

Enter the following command in the terminal window to perform the installation of MoveIt:

sudo apt-get install ros-kinetic-moveit

git installation

1.Add a software source

Add the git-installed software source to the list of ubuntu's software sources and enter the following command in the terminal window:

sudo add-apt-repository ppa:git-core/ppa

You need clickEnter manually to continue. 在这里插入图片描述

2.Update the list of software sources

Enter the following command in the terminal window to update the list of software sources:

sudo apt-get update

3.Install git

Enter the following command in the terminal window to perform the installation of git:

sudo apt-get install git

4.Verify and installation

Read git version, Enter the following command in the terminal window:

git --version

The git version number can be displayed in the terminal, as follows, for a successful installation. 在这里插入图片描述

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