启智CV机器人，ROS,ubuntu 20.04 【最后一步有问题】

资料：
https://wiki.ros.org/kinetic/Installation/Ubuntu
https://blog.csdn.net/qq_44339029/article/details/120579608

装VM。

装ubuntu20.04 desktop.iso系统。

装vm工具：

sudo apt update
sudo dpkg --configure -a
sudo apt-get autoremove open-vm-tools
sudo apt-get install open-vm-tools -y 
sudo apt-get install open-vm-tools-desktop -y

重启虚拟机。

断网修复：

sudo rmmod e1000
sudo rmmod e1000e
sudo rmmod igbsudo modprobe e1000
sudo modprobe e1000e
sudo modprobe igbsudo dhclient ens33sudo apt-get update && sudo apt-get upgrade
sudo apt-get purge network-manager
sudo apt-get install network-manager

进root：

sudo -i

apt install vim -y

增加ros软件源:

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

更换秘钥：

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

更新软件源：

sudo apt update

安装ros：

sudo apt install ros-noetic-desktop-full -y

完成后是这样：

sudo apt install python3-rosdep2

vim /etc/hosts

通过IPAddress.com首页,输入raw.githubusercontent.com查询到最新的真实IP地址

185.199.108.133 raw.githubusercontent.com

rosdep init

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

安装rosinstall

sudo apt install python3-rosinstall python3-rosinstall-generator python3-wstool -y

可以看到：

验证ROS是否安装成功

sudo apt install python3-roslaunch
sudo apt install ros-noetic-desktop-fullroscore

正常会出现：

这样就是不正常：

做实验：

cd ~
sudo apt install python3-catkin-tools python3-osrf-pycommon
source /opt/ros/noetic/setup.bash
mkdir -p /root/catkin_ws/srccd /root/catkin_ws/src # 很重要!
catkin_create_pkg ad_sensor_package roscpp std_msgscd /root/catkin_ws
catkin_make

一定要注意我的执行顺序，最后一句catkin_make构建工作空间后是这样：

获取源码:

cd ~/catkin_ws/src/
git clone https://github.com/6-robot/wpb_cv.git
git clone https://github.com/orbbec/ros_astra_camera.git
# git clone https://github.com/orbbec/ros_astra_launch.git # 要权限！！？？
git clone https://github.com/tfoote/ros_astra_launch.git
git clone https://github.com/ros-drivers/rgbd_launch.git

修改settings.yam：

cd /root/catkin_ws/src/wpb_cv/wpb_cv_bringup/config

再次构建：

apt install python3-rosdep2 --fix-missing
sudo apt install ros-noetic-rostest
sudo apt-get install ros-noetic-tfsudo apt-get install ros-noetic-joy -y
sudo apt-get install ros-noetic-hector-mapping -y
sudo apt-get install ros-noetic-gmapping -y
sudo apt-get install ros-noetic-navigation -y
sudo apt-get install ros-noetic-sound-play -y
sudo apt-get install ros-noetic-astra-camera -y
sudo apt-get install ros-noetic-astra-launch -y
sudo apt-get install ros-noetic-depthimage-to-laserscan -y
sudo apt-get install ros-noetic-libuvc -ycd /root/catkin_ws
catkin_make

启动节点：

roslaunch wpb_cv_bringup minimal.launch