I. Introduction
This series of articles is the author in the process of self-taught ROS records, due to the installation of dual-system switching is more troublesome, I used a virtual machine approach!
Ubuntu installation
① virtual machine approach
1. Download and install the virtual machine
VMware16 is a super-powerful computer virtual machine software, through this software, we can run on the original system and then other operating systems, including Windows, Linux, etc., the first to download and install the virtual machine, do not provide download resources!
2. Download Ubuntu22.04 image
Ubuntu22.04LTS-amd64
Ubuntu22.04LTS-RaspberryPi
3.Install Ubuntu22.04 in VMware
Create a new virtual machine in VMware, and select the downloaded ubuntu-22.04-desktop-amd64.iso image file.
Choose the options according to your own needs, I use AMD CPU need to enable AMD-V function in the bios to use the virtual machine function.
If there are other errors, follow the error tips on Baidu to find the error information to do changes
② disk burning method
1. Prepare microSD card
2. Download the Ubuntu image
Ubuntu22.04LTS-amd64
Ubuntu22.04LTS-RaspberryPi
3.Use balenaEtcher to burn the image to microSD card.
4. Insert the Raspberry Pi and other devices to boot up and use it
Ubuntu environment configuration
0. Modify the display settings (for independent screen devices)
Add the following to config:
(to micro-snow 5inch HDMI AMOLED as an example, other screen device configuration is different, you need to consult the specific manufacturer)
hdmi_force_hotplug=1
config_hdmi_boost=10
disable_overscan=1
hdmi_group=2
hdmi_mode=87
hdmi_timings=960 0 190 4 32 544 0 10 10 12 0 0 0 0 60 0 41000000 3
1. disable sudo password
The sudo command is often used at the command line. Turning off the sudo password eliminates the need to enter it every time.
Ctrl+Alt+T to open the terminal.
Type the command sudo visudo in the terminal to open visudo;
sudo visudo
Find the line %sudo ALL=(ALL:ALL) ALL in the text.
Change it to %sudo ALL=(ALL:ALL) NOPASSWD:ALL
%sudo ALL=(ALL:ALL) NOPASSWD:ALL
2. Configure the network environment (VM only)
Virtual machine environment network often have problems, showing no wifi adapter, here to windows as an example, open the 'Network and Internet Settings' ¡ú Change Adapter Options ¡ú Select WLAN and right-click ¡ú Open Properties ¡ú Check 'Sharing', check 'Sharing', and then click on 'Sharing'. ', check 'Allow users from other networks to connect through this computer's Internet', and select VMware Network Adapter in 'Home Network Connection' below. VMnet8
Switch to VMware, open 'Edit' in the upper left corner, open 'Virtual Network Editor', select 'Bridge Mode', and select your own local adapter
If using Ethernet wired connection can be ignored (2. Configure the network environment)
3. Modify the source
sudo gedit /etc/apt/sources.list
Backup the contents and modify it to
# This image only contains packages for 32/64-bit x86 architecture processors, on ARM (arm64, armhf), PowerPC (ppc64el), RISC-V (riscv64), and S390x architecture devices (corresponding to the official source of ports.ubuntu.com) please use the ubuntu-ports image. ubuntu-ports mirrors.
# The source image is commented out by default for faster apt updates, but you can uncomment it if you need to.
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-security main restricted universe multiverse
# deb jammy-proposed repositories, not recommended
# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-proposed main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-proposed main restricted universe multiverse
If the device is an arm architecture processor such as a Raspberry Pi, change the content to ubuntu-ports
Check the architecture with the following command
uname -a
# The source image is commented out by default to improve the speed of apt update, but you can uncomment it if you need to
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy-security main restricted universe multiverse
# deb jammy-proposed repositories, not recommended
# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy-proposed main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy-proposed main restricted universe multiverse
Optional one-click source change:
sudo sed -i “s#ports.ubuntu.com#mirrors.ustc.edu.cn#g” sources.list
4. Update the software
Check for updates by running in the terminal
sudo apt update
Then run update
sudo apt upgrade
5. Other Configurations
Install PIP
sudo apt install pip
Configure pip source
pip config set global.index-url https://pypi.tuna.tsinghua.edu.cn/simple
Configure github acceleration
sudo apt install cgit
git config --global url. “https://gitclone.com/”.insteadOf https://
Install the command-line management tool terminator
sudo apt install terminator
Install the screensaver
sudo apt-get install xscreensaver
Install screen recorder
sudo add-apt-repository ppa:obsproject/obs-studio
sudo apt-get update
sudo apt-get install obs-studio
obs
Install WeChat
Wine environment package download
WeChat (wine) package download
Execute the following in the download directory
sudo dpkg -i ukylin-wine_70.6.3.25_amd64.deb
sudo dpkg -i ukylin-wechat_3.0.0_amd64.deb
Install ROS
①Install ROS1 Noetic (only need ROS2 can be skipped)
If you need to install ROS1 Noetic
1, add the software source-sources.list
sudo sh -c 'echo “deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main” > /etc/apt/sources.list.d/ros-latest.list'
2. Add the key
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
3. Update the repositories
sudo apt update
4. Install the full desktop version: includes ROS, rqt, rviz, Robotics Common Library, 2D/3D Simulator, Navigation, and 2D/3D Perception.
sudo apt install ros-noetic-desktop-full
5. After installation, run it again to unpack it
sudo apt install ros-noetic-desktop-full
6. Initialize rosdep (rosdep is used to resolve feature pack installation system dependencies and is a required component of ROS)
sudo rosdep init
rosdep update
First install pip and install rosdepc
sudo apt-get install python3-pip
sudo pip install rosdepc
Then use the domestic version of rosdepc
sudo rosdepc init
rosdepc update
6. Setting environment variables (bash)
Since you will be typing the ros command in the terminal frequently, set the environment variables for easy use later on
echo “source /opt/ros/noetic/setup.bash” >> ~/.bashrc
source ~/.bashrc
7. Test
ROS environment has been configured, open a core test can not enter, if you want to test a little more can run a turtle
roscore
② Install ROS2 Humble
Install ROS2 Humble with one click:
wget http://fishros.com/install -O fishros && . fishros
Manual installation:
1. Add the software source -sources.list
echo “deb [arch=$(dpkg --print-architecture)] https://repo.huaweicloud.com/ros2/ubuntu/ $(lsb_release -cs) main” | sudo tee /etc/apt/sources. list.d/ros2.list > /dev/null
2. Add the key
sudo apt install curl gnupg2 -y
curl -s https://gitee.com/ohhuo/rosdistro/raw/master/ros.asc | sudo apt-key add -
3. Update the repository
sudo apt update
4. Install the full version of the desktop
sudo apt install ros-humble-desktop
5. Install other dependencies
sudo apt install python3-argcomplete -y
6. Configure ROS environment variables
echo “source /opt/ros/humble/setup.bash” >> ~/.bashrc
7. Initialize rosdep (rosdep is used to resolve feature pack installation system dependencies and is a required component of ROS)
sudo pip install rosdepc
Then use the domestic version of rosdepc
sudo rosdepc init
rosdepc update
For some newly created workspace, if you wish to add to the environment variable, you can use:
echo “source /home/ubuntu/ros2_ws/install/setup.bash” >> ~/.bashrc
/home/ubuntu/ros2_ws/ is the path to the workspace.
pwd # View the current path
