ROS development environment construction (2024.8.4)
posted on 2024-11-02 13:56 read(628) comment(0) like(21) collect(5)
Table of contents
2.PRACTICAL INSTALLATION OF ROS ENVIRONMENT
2.2 Create a virtual host on the virtual machine software
3. Software environment configuration
3.1 Installing virtual machine tools
3.2 Testing virtual machine tools
3.3 Installing the file exchange tool
4.1 Configure Ubuntu software and updates
4.2 Setting up the installation source
4.6 Configure environment variables:
1. ROS installation process
Installation method: physical machine installation, virtual machine installation (used in this article)
The virtual machine follows the process 1. Install the virtual machine software
2. Use virtual machine software to virtualize a host
3. Install Ubuntu 20.04 on a virtual machine
4. Install ROS on Ubuntu
5. Test whether ROS is running normally
2.PRACTICAL INSTALLATION OF ROS ENVIRONMENT
2.1 Install Virtualbox
website:
https://www.virtualbox.org/wiki/Downloads
After entering the website, click Downloads → Select the installation environment → Extension plug-in (All-supported platforms)
There are no special requirements during the installation process. You can keep pressing Next.
After the installation is complete, there will be an icon on the desktop
2.2 Create a virtual host on the virtual machine software
Open VirtualBox and click New
The virtual machine name and folder path can be customized. The operating system is Linux , and the version is Ubuntu 64-bit.
Configure the virtual machine memory - 2G or more is recommended, and choose 2-3 processors , depending on your hardware, but it is best to start with 2.
When creating a virtual hard disk, it is recommended to create a larger space, 60G is recommended, otherwise it will be difficult to use later.
The virtual machine will not occupy memory when it is not started, but subsequent installation files will need to occupy the virtual machine's memory. It is recommended to give it a larger size when configuring.
Click Finish to create successfully:
After successful creation, VirtualBox will display a virtual machine
2.3 Ubuntu installation
Install Ubuntu image file
Installation link: http://mirrors.aliyun.com/ubuntu-releases/20.04/
After jumping to the link, select the image file ubuntu-20.04-desktop-amd64.iso to download
Associate with the downloaded image file
Click on the virtual machine settings → Storage → Click on No Blue Disk → Select Virtual Disk → Select CD
Select the image file you just downloaded and click OK
After completing the above steps, you can click the green start button on VirtualBox
Startup completed (no pop-up window in the new version)
Click on the left side to set the language to Chinese (Simplified), and select Install Ubuntu on the right side
After clicking Install, select Chinese for the keyboard layout, as shown in the picture, and the Continue button is not displayed.
Press Alt+F7
Continue to the next step.
continue
Install Now
Click Continue
continue
Set the device account name, password, etc., select Automatic login, and then click Continue.
Wait for installation (installation takes a long time) about 10 minutes (you can click Skip to skip)
The installation is successful, click Restart Now.
It will prompt you to remove the installation disk and press Enter. Just press Enter
The screen will go black for a while and then display the Ubuntu interface
Click Skip, Go Forward → Select No → Go Forward → Go Forward → Done.
This completes the installation of the Ubuntu operating system.
3. Software environment configuration
3.1 Installing virtual machine tools
Click on the device and select Install Enhancements
Click Run and enter the password
When the installation is complete, you will be prompted to press return to close this window. Click Enter to close it.
Click Shutdown and restart the Ubuntu system to make the tool take effect.
3.2 Testing virtual machine tools
Click on the view and select the automatic zoom mode
Basic commands Right Ctrl+F: Full screen display
Right Ctrl+C: Zoom display
3.3 Installing the file exchange tool
Open VirtualBox, click Settings, and configure it as shown below.
Click the file of Ubuntu system, open it, drag the txt format notepad on Windows into the test, and if it is successfully dragged in, it means that the file exchange tool has been installed (if it fails once, you can restart and try again)
3.4 Install extension plugins
Open the VirtualBox virtual machine, click Manage → Click Tools → Click Expansion Pack
Click Install, and the installation will be completed as shown in the figure
3.5 Optimization
Configuration Text Document
Click the home directory → click the template → right click → open in terminal
Input: sudo gedit create a new text document.text
Enter
Enter password
Enter
keep
Click on the home directory and right click to see the option of creating a new document
Tip: "Win+Space" can switch between Chinese and English
The password input status will not be displayed when entering the password: the password entered is the power-on password
4. ROS Installation
4.1 Configure Ubuntu software and updates
First open the "Software and Updates" dialog box
Confirm that the first four are checked and close.
4.2 Setting up the installation source
The installation source is the official default:
Installing the installation sources of Tsinghua University or USTC may cause errors in subsequent steps, so we will not use those two installation sources here.
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
On the virtual machine, press "Ctrl+Alt+T" to open the control interface, paste the installation source, press Enter, and enter the password.
4.3 Setting Key
Copy Key
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
Paste the Key
4.4 Installation
Update apt
sudo apt update
Continue copying and wait for the download to complete.
4.5 ROS Installation
Wait for the previous step to complete the installation and enter the following command
sudo apt install ros-noetic-desktop-full
Enter "Y" and press Enter, then wait for the download. The download time depends on the network. Mine took about 15 minutes.
4.6 Configure environment variables:
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
After entering the password, enter the two
4.7 Install build dependencies,
Open the console and enter the following command
sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
sudo apt install python3-rosdep
Press Enter
Type "clear"
Enter
test:
Enter Ctrl+Alt+T to open three command lines in succession and enter the following three commands respectively
Command line 1 input: roscore
Command line 2 enters: rosrun turtlesim turtlesim_node
Command line 3 enter again: rosrun turtlesim turtle_teleop_key
Place the mouse on the third command line, and use the arrow keys to control the turtle. Press "q" to exit.
Category of website: technical article > Blog
Author：kimi
link：http://www.pythonblackhole.com/blog/article/245798/86ea7a939836242e8ba2/
source：python black hole net
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