ROS在Linux环境下的配置与部署指南#

1
# 更新软件包列表
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sudo apt update
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sudo apt upgrade -y
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5
# 安装必要工具
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sudo apt install -y curl wget git build-essential
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sudo apt install -y python3-pip python3-venv
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9
# 设置软件源为国内镜像（可选，加速下载）
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sudo sed -i 's/archive.ubuntu.com/mirrors.aliyun.com/g' /etc/apt/sources.list
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sudo sed -i 's/security.ubuntu.com/mirrors.aliyun.com/g' /etc/apt/sources.list

1
# 创建工作空间目录
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mkdir -p ~/catkin_ws/src
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cd ~/catkin_ws/
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# 初始化工作空间
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catkin_init_workspace src
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8
# 构建工作空间
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catkin_make
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11
# 配置环境变量
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echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
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source ~/.bashrc

1
# 创建工作空间目录
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mkdir -p ~/ros2_ws/src
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cd ~/ros2_ws
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5
# 构建工作空间
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colcon build
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8
# 配置环境变量
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echo "source ~/ros2_ws/install/setup.bash" >> ~/.bashrc
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source ~/.bashrc

1
# 启动roscore
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roscore &
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4
# 在新的终端中运行小海龟示例
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# 终端1：运行turtlesim节点
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rosrun turtlesim turtlesim_node
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# 终端2：运行控制节点
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rosrun turtlesim turtle_teleop_key
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# 查看节点信息
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rosnode list
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rostopic list

1
# 在新的终端中运行小海龟示例
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# 终端1：运行turtlesim节点
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ros2 run turtlesim turtlesim_node
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# 终端2：运行控制节点
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ros2 run turtlesim turtle_teleop_key
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# 查看节点信息
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ros2 node list
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ros2 topic list

1
# 安装VS Code（可选）
2
sudo snap install code --classic
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4
# 安装Terminator终端
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sudo apt install -y terminator
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7
# 安装网络工具
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sudo apt install -y net-tools nmap
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10
# 安装串口工具
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sudo apt install -y minicom cutecom

1
# ROS1工具
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sudo apt install -y ros-noetic-rviz ros-noetic-rqt
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sudo apt install -y ros-noetic-rosbridge-server
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sudo apt install -y ros-noetic-tf2-tools
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# ROS2工具
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sudo apt install -y ros-humble-rviz2 ros-humble-rqt
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sudo apt install -y ros-humble-rosbridge-server
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sudo apt install -y ros-humble-nav2-bringup

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# ROS1机器人包
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sudo apt install -y ros-noetic-turtlebot3
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sudo apt install -y ros-noetic-moveit
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sudo apt install -y ros-noetic-gazebo-ros-pkgs
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# ROS2机器人包
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sudo apt install -y ros-humble-turtlebot3
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sudo apt install -y ros-humble-moveit
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sudo apt install -y ros-humble-gazebo-ros-pkgs

1
# 设置TurtleBot3型号
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echo "export TURTLEBOT3_MODEL=burger" >> ~/.bashrc
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source ~/.bashrc
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5
# 下载TurtleBot3仿真模型
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sudo apt install -y ros-noetic-turtlebot3-simulations
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# 或者ROS2
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sudo apt install -y ros-humble-turtlebot3-simulations

1
# 查看本机IP
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hostname -I
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4
# 设置环境变量
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export ROS_IP=$(hostname -I | awk '{print $1}')
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export ROS_HOSTNAME=$ROS_IP
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export ROS_MASTER_URI=http://$ROS_IP:11311
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9
# 持久化配置
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echo "export ROS_IP=\$(hostname -I | awk '{print \$1}')" >> ~/.bashrc
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echo "export ROS_HOSTNAME=\$ROS_IP" >> ~/.bashrc
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echo "export ROS_MASTER_URI=http://\$ROS_IP:11311" >> ~/.bashrc

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# 主控机配置
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export ROS_MASTER_URI=http://<master_ip>:11311
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export ROS_IP=<local_ip>
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# 从机配置
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export ROS_MASTER_URI=http://<master_ip>:11311
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export ROS_IP=<local_ip>

1
# 拉取ROS镜像
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docker pull osrf/ros:noetic-desktop-full
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# 或者ROS2
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docker pull osrf/ros:humble-desktop
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6
# 运行Docker容器
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docker run -it \
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  --env="DISPLAY" \
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  --env="QT_X11_NO_MITSHM=1" \
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  --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
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  osrf/ros:noetic-desktop-full \
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  bash

1
# 禁用不必要的服务
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sudo systemctl disable bluetooth.service
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sudo systemctl disable cups.service
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5
# 调整交换空间（如果内存不足）
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sudo fallocate -l 2G /swapfile
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sudo chmod 600 /swapfile
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sudo mkswap /swapfile
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sudo swapon /swapfile
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11
# 添加开机自动挂载
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echo '/swapfile none swap sw 0 0' | sudo tee -a /etc/fstab

1
# 使用多核编译
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catkin_make -j$(nproc)
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4
# 或者使用更快的构建系统
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catkin build --jobs $(nproc) --limit-status-rate 0.01

1
# 更新ROS软件包
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sudo apt update
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sudo apt upgrade ros-noetic-*  # ROS1
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# 或者
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sudo apt upgrade ros-humble-*  # ROS2
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7
# 清理无用包
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sudo apt autoremove
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sudo apt autoclean
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11
# 清理ROS日志
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rosclean purge -y

1
# 备份工作空间
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tar -czf ~/ros_backup_$(date +%Y%m%d).tar.gz ~/catkin_ws/
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4
# 备份环境配置
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cp ~/.bashrc ~/.bashrc.backup_$(date +%Y%m%d)