1.安裝VMware Workstation Pro

2.安裝Ubuntu18.04

(https://mp.weixin.qq.com/s/vuaPF25PUVywgAA0tEvr8w)

3.設(shè)置網(wǎng)絡(luò)：NAT模式(聯(lián)網(wǎng))

4.安裝Vmware tools（共享文件夾和隨意縮小及可以復(fù)制粘貼）

（https://blog.csdn.net/qweKelliy/article/details/88784494?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522163886486816780265470874%2522%252C%2522scm%2522%253A%252220140713.130102334..%2522%257D&request_id=163886486816780265470874&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~blog~baidu_landing_v2~default-1-88784494.pc_v2_rank_blog_default&utm_term=18.04%E5%AE%89%E8%A3%85vmware+tools%E6%AD%A5%E9%AA%A4&spm=1018.2226.3001.4450）

5.安裝ROS

?1.設(shè)置安裝源

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'

2.設(shè)置密鑰

sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

在更新之前，需要安裝公鑰，否則無法驗證簽名，命令如下：

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654

3.更新軟件列表

sudo apt update

4.安裝ROS

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

5.安裝完成之后初始化rosdep

sudo apt install python-rosdep

6.初始化rosdep

sudo rosdep init

rosdep update

大多數(shù)情況下，做到這一步都會報錯，可能會出現(xiàn)如下情況：

···Website may be down 或者 ···ERROR: unable to process source

錯誤原因是由于 raw.githubusercontent.com 被墻，程序無法下載相應(yīng)的文件導(dǎo)致的，正常情況下我們也無法訪問該網(wǎng)站。

問題解決：

A. 下載rosdistro-master的壓縮包，然后解壓到主目錄

cd ~

unzip rosdistro-master.zip

mv rosdistro-master rosdistro

鏈接：https://pan.baidu.com/s/1z25LvAV1Z7dCTuzELqhOsA

提取碼：75r1

B. 修改 20-default.list 文件

sudo gedit /etc/ros/rosdep/sources.list.d/20-default.list

內(nèi)容修改如下：

# os-specific listings first

yaml file:///home/xxx/rosdistro/rosdep/osx-homebrew.yaml osx

# generic

yaml file:///home/xxx/rosdistro/rosdep/base.yaml

yaml file:///home/xxx/rosdistro/rosdep/python.yaml

yaml file:///home/xxx/rosdistro/rosdep/ruby.yaml

gbpdistro file:///home/xxx/rosdistro/releases/fuerte.yaml fuerte

# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead

注意：上述 xxx 需替換為自己的用戶名

C. 修改 sources_list.py 文件

sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py

注釋原 DEFAULT_SOURCES_LIST_URL 一行，然后在其后添加如下一行，注意：xxx替換

DEFAULT_SOURCES_LIST_URL = 'file:///home/xxx/rosdistro/rosdep/sources.list.d/20-default.list'

D. 修改 rep3.py 文件

sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/rep3.py

注釋原 REP3_TARGETS_URL 一行，然后在其后添加如下一行，注意：xxx替換

REP3_TARGETS_URL = 'file:///home/xxx/rosdistro/releases/targets.yaml'

E. 修改 __init__.py 文件

sudo gedit /usr/lib/python2.7/dist-packages/rosdistro/__init__.py

注釋原 DEFAULT_INDEX_URL 一行，然后在其后添加如下一行，注意：xxx替換

DEFAULT_INDEX_URL = 'file:///home/xxx/rosdistro/index-v4.yaml'

7.重新 rosdep update

8.添加 ROS 環(huán)境變量

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

source ~/.bashrc

9.安裝 rosinstall

sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential

?10.第一次啟動ROS時，需要進行環(huán)境變量配置，執(zhí)行如下命令

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

source ~/.bashrc

11.先開啟三個終端，然后分別依次輸入如下命令：

roscore

rosrun turtlesim turtlesim_node

rosrun turtlesim turtle_teleop_key

然后將鼠標(biāo)聚焦到輸入最后一個命令的窗口，通過鍵盤的上下左右鍵，分別控制小王八的前進，后退，左轉(zhuǎn)，右轉(zhuǎn)。