差别

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到此差别页面的链接

ros:install [2018/04/13 14:13] (当前版本)
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 +====== ROS 懒人一键安装脚本 ======
 +
 +<WRAP center round info 100%>
 +大家都喜欢一步到位,所以这个脚本刚刚好,支持 Ubuntu 13.10, 14.04 LTS, and 16.04 LTS,默认安装版本:kinetic。
 +</​WRAP>​
 +
 +
 +
 +<file bash ros_install.sh>​
 +#!/bin/bash
 +# The BSD License
 +# Copyright (c) 2014 OROCA and ROS Korea Users Group
 +# Modified by ferstar 2018
 +
 +set -x
 +
 +function usage {
 +    # Print out usage of this script.
 +    echo >&2 "​usage:​ $0 [catkin workspace name (default:​catkin_ws)] [ROS distro (default: kinetic)"​
 +    echo >&2 " ​         [-h|--help] Print help message."​
 +    exit 0
 +}
 +# Parse command line. If the number of argument differs from what is expected, call `usage` function.
 +OPT=`getopt -o h -l help -- $*`
 +if [ $# != 2 ]; then
 +    usage
 +fi
 +eval set -- $OPT
 +while [ -n "​$1"​ ] ; do
 +    case $1 in
 +        -h|--help) usage ;;
 +        --) shift; break;;
 +        *) echo "​Unknown option($1)";​ usage;;
 +    esac
 +done
 +
 +name_catkinws=$1
 +name_catkinws=${name_catkinws:​="​catkin_ws"​}
 +name_ros_distro=$2
 +name_ros_distro=${name_ros_distro:​="​kinetic"​}
 +
 +version=`lsb_release -sc`
 +
 +echo "​[Checking the ubuntu version]"​
 +case $version in
 +  "​saucy"​ | "​trusty"​ | "​vivid"​ | "​wily"​ | "​xenial"​)
 +  ;;
 +  *)
 +    echo "​ERROR:​ This script will only work on Ubuntu Saucy(13.10) / Trusty(14.04) / Vivid / Wily / Xenial. Exit."
 +    exit 0
 +esac
 +
 +echo "​[Update & upgrade the package]"​
 +sudo apt-get update
 +sudo apt-get upgrade
 +
 +echo "​[Check the 14.04.2 TLS issue]"​
 +relesenum=`grep DISTRIB_DESCRIPTION /​etc/​*-release | awk -F '​Ubuntu ' '​{print $2}' | awk -F ' LTS' '​{print $1}'`
 +if [ "​$relesenum"​ = "​14.04.2"​ ]
 +then
 +  echo "Your ubuntu version is $relesenum"​
 +  echo "​Intstall the libgl1-mesa-dev-lts-utopic package to solve the dependency issues for the ROS installation specifically on $relesenum"​
 +  sudo apt-get install -y libgl1-mesa-dev-lts-utopic
 +else
 +  echo "Your ubuntu version is $relesenum"​
 +fi
 +
 +echo "​[Installing chrony and setting the ntpdate]"​
 +sudo apt-get install -y chrony
 +sudo ntpdate ntp.ubuntu.com
 +
 +echo "[Add the ROS repository]"​
 +if [ ! -e /​etc/​apt/​sources.list.d/​ros-latest.list ]; then
 +  sudo sh -c "echo \"deb http://​mirrors.ustc.edu.cn/​ros/​ubuntu ${version} main\" > /​etc/​apt/​sources.list.d/​ros-latest.list"​
 +fi
 +
 +echo "​[Download the ROS keys]"
 +roskey=`apt-key list | grep "ROS builder"​`
 +if [ -z "​$roskey"​ ]; then
 +  wget --quiet https://​raw.githubusercontent.com/​ros/​rosdistro/​master/​ros.key -O - | sudo apt-key add -
 +fi
 +
 +echo "​[Update & upgrade the package]"​
 +sudo apt-get update
 +sudo apt-get upgrade
 +
 +echo "​[Installing ROS]"
 +sudo apt-get install -y ros-$name_ros_distro-desktop-full ros-$name_ros_distro-rqt-*
 +
 +echo "​[rosdep init and python-rosinstall]"​
 +sudo sh -c "​rosdep init"
 +rosdep update
 +. /​opt/​ros/​$name_ros_distro/​setup.sh
 +sudo apt-get install -y python-rosinstall
 +
 +echo "​[Making the catkin workspace and testing the catkin_make]"​
 +mkdir -p ~/​$name_catkinws/​src
 +cd ~/​$name_catkinws/​src
 +catkin_init_workspace
 +cd ~/​$name_catkinws/​
 +catkin_make
 +
 +echo "​[Setting the ROS evironment]"​
 +sh -c "echo \"​source /​opt/​ros/​$name_ros_distro/​setup.bash\"​ >> ~/​.bashrc"​
 +sh -c "echo \"​source ~/​$name_catkinws/​devel/​setup.bash\"​ >> ~/​.bashrc"​
 +sh -c "echo \"​export ROS_MASTER_URI=http://​localhost:​11311\"​ >> ~/​.bashrc"​
 +sh -c "echo \"​export ROS_HOSTNAME=localhost\"​ >> ~/​.bashrc"​
 +
 +echo "​[Complete!!!]"​
 +
 +exec bash
 +
 +exit 0
 +
 +</​file>​
  
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