Ubuntu 16.04 + ROS Kinetic 机器人操作系统学习镜像分享与使用安装说明
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Ubuntu 16.04 + ROS Kinetic 镜像分享与使用安装说明
内容概要:1 网盘文件介绍 2 镜像制作 3 系统使用与安装
---- 祝ROS爱好者和开发者新年快乐:-) ----
镜像iso约1.7GB,更多功能在网盘中查找即可。
1 网盘文件介绍
网址:http://pan.baidu.com/s/1kVe8u6F
打开后,目前有5个文件夹,分别为pic、iso、code、build、book。
pic图片目录,iso镜像目录,code学习ROS一些代码压缩包,build制作镜像文件,book书籍分享。
在iso文件夹可以看到镜像文件ExbotBook_xxx.iso,由于之前发布镜像太大,目前这个镜像就是纯净版,只有Ubuntu 16.04,ROS Kinetic,Gazebo 7.5,MoveIt!以及学习的代码示例,稍后会在试用时做详细介绍。之后,会依据需求更新并增加镜像,定制版镜像制作也会在后续博客中介绍。下载完成后,在build文件夹下载Universal-USB-Installer用于制作启动盘。
2 镜像制作
特别说明,试用时需要在BIOS设置Secure Boot为Disabled,安装完成后再开启Enable。
本镜像制作支持UEFI+Legacy启动,所以使用UEFI/Legacy Boot皆可。
制作过程如下:
需要勾选Showing *ISOs,点击Create:
等待制作完成,约4-8分钟,休息一下:-)
好,镜像制作完成,重启电脑即可使用。下面内容均在U盘系统中完成。
3 系统试用与安装
选择试用exbotbook即可试用此系统。桌面如下:
系统用户名:rosfun 密码:exbot
已经编译好可以使用的功能包如下:
当然,也可以在终端再编译一下看看,当然这是U盘灯会快闪:-)
- rosfun@rosfun:~$ cd dev/catkin_ws/
- rosfun@rosfun:~/dev/catkin_ws$ catkin_make
- Base path: /home/rosfun/dev/catkin_ws
- Source space: /home/rosfun/dev/catkin_ws/src
- Build space: /home/rosfun/dev/catkin_ws/build
- Devel space: /home/rosfun/dev/catkin_ws/devel
- Install space: /home/rosfun/dev/catkin_ws/install
- ####
- #### Running command: "make cmake_check_build_system" in "/home/rosfun/dev/catkin_ws/build"
- ####
- ####
- #### Running command: "make -j4 -l4" in "/home/rosfun/dev/catkin_ws/build"
- ####
- [ 1%] Built target laser
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- [ 3%] Built target std_msgs_generate_messages_py
- [ 3%] Built target std_msgs_generate_messages_eus
- [ 3%] Built target actionlib_msgs_generate_messages_eus
- [ 3%] Built target _kamtoa_smarthome_controller_generate_messages_check_deps_smarthome_action
- [ 3%] Built target _kamtoa_smarthome_controller_generate_messages_check_deps_smarthome_response
- [ 3%] Built target _my_sph_actions_generate_messages_check_deps_sphero_action_msgActionGoal
- [ 3%] Built target _my_sph_actions_generate_messages_check_deps_sphero_action_msgFeedback
- [ 3%] Built target nav_msgs_generate_messages_eus
- [ 3%] Built target _my_sph_actions_generate_messages_check_deps_sphero_action_msgActionResult
- [ 3%] Built target _my_sph_actions_generate_messages_check_deps_sphero_action_msgResult
- [ 3%] Built target _my_sph_actions_generate_messages_check_deps_sphero_action_msgGoal
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- [ 3%] Built target actionlib_msgs_generate_messages_lisp
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- [ 4%] Generating dynamic reconfigure files from cfg/chapter2.cfg: /home/rosfun/dev/catkin_ws/devel/include/chapter2_tutorials/chapter2Config.h /home/rosfun/dev/catkin_ws/devel/lib/python2.7/dist-packages/chapter2_tutorials/cfg/chapter2Config.py
- [ 4%] Built target _sphero_node_generate_messages_check_deps_SpheroCollision
- [ 4%] Built target _chapter2_tutorials_generate_messages_check_deps_chapter2_srv1
- [ 4%] Built target _chapter2_tutorials_generate_messages_check_deps_chapter2_msg1
- [ 4%] Built target _driver_base_generate_messages_check_deps_ConfigValue
- [ 4%] Built target _driver_base_generate_messages_check_deps_ConfigString
- [ 4%] Built target _driver_base_generate_messages_check_deps_SensorLevels
- [ 6%] Built target chapter5_tutorials_gencfg
- [ 6%] Built target kamtoa_joystick
- [ 7%] Built target velocity_profiler
- Generating reconfiguration files for chapter2_ in chapter2_tutorials
- Wrote header file in /home/rosfun/dev/catkin_ws/devel/include/chapter2_tutorials/chapter2_Config.h
- [ 9%] Built target camera_timer
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- [ 10%] Built target chapter2_tutorials_gencfg
- [ 11%] Built target sendGoals
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- [ 12%] Built target example7
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- [ 34%] Built target tf_generate_messages_cpp
- [ 36%] Built target moveit_simple_grasps
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- [ 36%] Built target roscpp_generate_messages_eus
- [ 36%] Built target roscpp_generate_messages_py
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- [ 36%] Built target tf2_msgs_generate_messages_eus
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- [ 36%] Built target moveit_ros_manipulation_gencfg
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- [ 36%] Built target octomap_msgs_generate_messages_py
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- [ 36%] Built target moveit_ros_planning_gencfg
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- [ 36%] Built target octomap_msgs_generate_messages_cpp
- [ 36%] Built target graph_msgs_generate_messages_eus
- [ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsActionGoal
- [ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsGoal
- [ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsActionFeedback
- [ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsFeedback
- [ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsActionResult
- [ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsResult
- [ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsAction
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- Scanning dependencies of target chap2_example4
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- [100%] Linking CXX executable /home/rosfun/dev/catkin_ws/devel/lib/chapter2_tutorials/chap2_example4
- [100%] Built target chap2_example4
- rosfun@rosfun:~/dev/catkin_ws$
举2个例子说明一下:
rviz:ROS数据可视化工具
$ roscore
$ rviz
$ roslaunch chapter3_tutorials example9.launch
可以观察到红色方块在rviz中缓慢移动:
gazebo:(model已经完全下载好,ROS仿真利器)
$ roslaunch sphero_gazebo main.launch
$ roslaunch sphero_gazebo keyboard_teleop.launch
使用键盘控制小钢球在环境中移动,体验一下三维物理引擎仿真的效果(Gazebo 7.5)
当然书中的例子,以及github上代码有兴趣都可以尝试。
如果看到这里,想要安装后使用,请阅读如下文字:
如果对Linux不熟悉的话,冲动是魔鬼,先在U盘系统多多练习学习就好,否则万一安装失败windows没了怎么办,即使安装成功,无法进入windows怎么办,提示风险哦 ;-)
安装说明:
这时,如果你想安装,点击桌面右上角图标,是木有结果的:-)确定安装请往下看:
打开终端,输入$ sudo ubiquity 输入密码:exbot
熟悉的安装界面出现了:
请注意下面警告,谨慎操作:
安装步骤和Ubuntu一模一样,安装完成后,如果windows系统不见了,UEFI/Legacy情况不同,可查找解决。
Legacy比较简单,进入系统后在终端输入 sudo update-grub 或sudo update-grub2 即可。
-End-
镜像制作稍后补充,可选用Pinguy Builder(已预装),Remastersys,respin。在sourceforge或github上可以下载。
原文地址:http://blog.csdn.net/zhangrelay/article/details/54632130
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