ROS（robot open system）在ubuntu12.04 下的安装

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转载地址：http://www.ros.org/wiki/fuerte/Installation/Ubuntu

1 Configure your Ubuntu repositories

Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse." You canfollow the Ubuntu guide for instructions on doing this.

2 Setup your sources.list

Setup your computer to accept software from packages.ros.org. ROS Fuerte doesnot support Maverick or Natty.

Ubuntu 10.04 (Lucid)

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu lucid main" > /etc/apt/sources.list.d/ros-latest.list'

Ubuntu 11.10 (Oneiric)

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu oneiric main" > /etc/apt/sources.list.d/ros-latest.list'

Ubuntu 12.04 (Precise)

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'

Mirrors

3 Set up your keys

wget http://packages.ros.org/ros.key -O - | sudo apt-key add -

4 Installation

Make sure you have re-indexed the ROS.org server:

```
sudo apt-get update
```

There are many different libraries and tools in ROS. We provided four default configurations to get you started. You can also install ROS stacks individually.

Desktop-Full Install: (Recommended): ROS, rx, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception
- ```
sudo apt-get install ros-fuerte-desktop-full
```
  or click here
Desktop Install: ROS, rx, rviz, and robot-generic libraries
- ```
sudo apt-get install ros-fuerte-desktop
```
  or click here
ROS-Comm: (Bare Bones) ROS package, build, and communication libraries. No GUI tools.
- ```
sudo apt-get install ros-fuerte-ros-comm
```
  or click here
Individual Stack: You can also install a specific ROS stack (replace underscores with dashes of the stack name):
- ```
sudo apt-get install ros-fuerte-STACK
```
  e.g.
```
sudo apt-get install ros-fuerte-slam-gmapping
```

5 Environment setup

It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched:

echo "source /opt/ros/fuerte/setup.bash" >> ~/.bashrc . ~/.bashrc （原文中此处换行了，导致命令被截断，输入时要注意）

If you have more than one ROS distribution installed, ~/.bashrc must only source the setup.bash for the version you are currently using.

If you just want to change the environment of your current shell, you can type:

source /opt/ros/fuerte/setup.bash

Most users will want to develop their own packages. The best way to configure the environment for that is to create anoverlay.

6 Standalone tools

rosinstall androsdep are frequently used command-line tools in ROS that are distributed separately.rosinstall enables you to easily download source trees for ROS packages and stacks.rosdep enables you to easily install system dependencies for source you are about to compile.

To install these tools, run:

sudo apt-get install python-rosinstall python-rosdep