ros 安装及基础学习

安装网址(ubuntu 16.04)：

http://wiki.ros.org/kinetic/Installation/Ubuntu安装问题：* Could not resolve 'cn.archive.ubuntu.com'  解决：    * sudo gedit /etc/hosts    * 末尾添加：      91.189.88.149    archive.ubuntu.com      91.189.88,149    security.ubuntu.com      202.118.1.64 cn.archive.ubuntu.com    * /etc/init.d/networking restart* snapd is not configured yet  解决：    * 先到 /etc/apt/sources.list更新sources.list，执行sources.list问题的所有命令    * https://www.ubuntuupdates.org/package/core/xenial/main/proposed/snapd    * 网页中：　apt重新下载安装　　即可    * 如果再次安装 ros kinetic出错，那你需要执行以下命令：        http://blog.csdn.net/heray1990/article/details/47803541        链接中第１９行说要执行：sudo mv /var/lib/dpkg/info/* /var/lib/dpkg/info_old/，但是我发现/var/lib/dpkg/info/是个空文件夹，所以没执行１９－２１的命令，执行运行安装ros kinetic的命令，完美安装完毕* sources.list问题：　解决：    * 更新命令：        sudo cp /etc/apt/sources.list /etc/apt/sources.list.bak        sudo gedit /etc/apt/sources.list ,　然后复制文末souces．lists内容到sources.lists内        sudo apt update    *　在文末

ros官方网站：

http://www.ros.org/http://wiki.ros.org/cn

学习博客：

由浅到深理解ROSP: http://www.cnblogs.com/zjiaxing/p/5541733.html

基础学习：

• 运行catkin_make命令一定要在workspace文件夹下;
• 创建完workspace文件夹后，就有必要将此目录添加到ROS_PACKAGE_PATH
  
  • echo “export ROS_PACKAGE_PATH=~/dev/catkin_ws:${ROS_PACKAGE_PATH}” >> ~/.bashrc
  • ~/.bashrc

• 修改CMakeLists:

  • 查看package.xml, 确保它包含一下两条语句:

    message_generation

    message_runtime

    注意，在构建的时候，我们只需要”message_generation”。然而，在运行的时候，我们只需要”message_runtime”。

  • Do not just add this line to your CMakeLists.txt, modify the existing line

    find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs message_generation)

    catkin_package(
    …
    CATKIN_DEPENDS message_runtime …
    …)

    add_message_files(
    FILES
    Num.msg
    )

    add_service_files(
    FILES
    AddTwoInts.srv
    )

    generate_messages(
    DEPENDENCIES
    std_msgs
    )

    In your catkin workspace

    $ catkin_make

  • 运行py文件：
    
    1. Don’t forget to make the node executable:
       
       • chmod +x scripts/add_two_ints_client.py
    2. In your catkin workspace
       
       • cd ~/catkin_ws
       • catkin_make
    3. cd ~/catkin_ws
       
       • . devel/setup.bash
       • rosrun package node

sources.list 文件：

# deb cdrom:[Ubuntu 16.04.3 LTS _Xenial Xerus_ - Release amd64 (20170801)]/ xenial main restricted# See http://help.ubuntu.com/community/UpgradeNotes for how to upgrade to# newer versions of the distribution.deb http://mirrors.aliyun.com/ubuntu/ xenial main restricted# deb-src http://cn.archive.ubuntu.com/ubuntu/ xenial main restricted## Major bug fix updates produced after the final release of the## distribution.deb http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted# deb-src http://cn.archive.ubuntu.com/ubuntu/ xenial-updates main restricted## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu## team. Also, please note that software in universe WILL NOT receive any## review or updates from the Ubuntu security team.deb http://mirrors.aliyun.com/ubuntu/ xenial universe# deb-src http://cn.archive.ubuntu.com/ubuntu/ xenial universedeb http://mirrors.aliyun.com/ubuntu/ xenial-updates universe# deb-src http://cn.archive.ubuntu.com/ubuntu/ xenial-updates universe## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu## team, and may not be under a free licence. Please satisfy yourself as to## your rights to use the software. Also, please note that software in## multiverse WILL NOT receive any review or updates from the Ubuntu## security team.deb http://mirrors.aliyun.com/ubuntu/ xenial multiverse# deb-src http://cn.archive.ubuntu.com/ubuntu/ xenial multiversedeb http://mirrors.aliyun.com/ubuntu/ xenial-updates multiverse# deb-src http://cn.archive.ubuntu.com/ubuntu/ xenial-updates multiverse## N.B. software from this repository may not have been tested as## extensively as that contained in the main release, although it includes## newer versions of some applications which may provide useful features.## Also, please note that software in backports WILL NOT receive any review## or updates from the Ubuntu security team.deb http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse# deb-src http://cn.archive.ubuntu.com/ubuntu/ xenial-backports main restricted universe multiverse## Uncomment the following two lines to add software from Canonical's## 'partner' repository.## This software is not part of Ubuntu, but is offered by Canonical and the## respective vendors as a service to Ubuntu users.# deb http://archive.canonical.com/ubuntu xenial partner# deb-src http://archive.canonical.com/ubuntu xenial partnerdeb http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted# deb-src http://security.ubuntu.com/ubuntu xenial-security main restricteddeb http://mirrors.aliyun.com/ubuntu/ xenial-security universe# deb-src http://security.ubuntu.com/ubuntu xenial-security universedeb http://mirrors.aliyun.com/ubuntu/ xenial-security multiverse# deb-src http://security.ubuntu.com/ubuntu xenial-security multiverse