ROS

ubuntu16.04 install ROS

添加源

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

设置秘钥

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 0xB01FA116

更新系统

sudo apt-get update

安装ROS

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

初始化ROS

sudo rosdep init
rosdep update

初始化环境变量:

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

安装python插件

sudo apt-get install python-rosinstall

测试ROS

roscore

change hostname

unable resolve host FriendlyELEC

  sudo vim /etc/hosts
  
  127.0.0.1	FriendlyELEC
  ::1		localhost ip6-localhost ip6-loopback
  ff02::1		ip6-allnodes
  ff02::2		ip6-allrouters

language setting

perl: warning: Setting locale failed.
perl: warning: Please check that your locale settings:
LANGUAGE = (unset),
LC_ALL = (unset),
LC_TIME = "zh_CN.UTF-8",
LC_MONETARY = "zh_CN.UTF-8",
LC_ADDRESS = "zh_CN.UTF-8",
LC_TELEPHONE = "zh_CN.UTF-8",
LC_NAME = "zh_CN.UTF-8",
LC_MEASUREMENT = "zh_CN.UTF-8",
LC_IDENTIFICATION = "zh_CN.UTF-8",
LC_NUMERIC = "zh_CN.UTF-8",
LC_PAPER = "zh_CN.UTF-8",

安装 localepurge 管理语言文件

  sudo apt-get install localepurge

选择我们想要的语言，例如 en_US.UTF-8 和 zh_CN.UTF-8。

  sudo locale-gen zh_CN.UTF-8 en_US.UTF-8

install ROS package

cd ~
git clone https://github.com/dj140/ROS.git
unzip lidar.zip && unzip rikirobot_project.zip
cd ~/ROS
sudo chmod +x *
./dev_tools_install.sh && ./ros_packages_install.sh
sudo cp lidar rikirobot_project -R ~/catkin_ws/src
cd ~/catkin_ws
catkin_make -j1
cd ~/catkin_ws/devel 
source setup.bash
rospack profile

install opencv

参考 https://github.com/dj140/autocar
有一处不同，Friend官方的lubuntu系统装不上opencv3.4，测试可以安装opencv3.2

wget -O opencv.zip https://github.com/Itseez/opencv/archive/3.2.0.zip
wget -O opencv_contrib.zip https://github.com/Itseez/opencv_contrib/archive/3.2.0.zip

编译方面也要改成3.2.0