ROS Install & Setup

ubuntu 18.04

ros distro : melodic

 

source:

wiki.ros.org/melodic/Installation/Ubuntu

wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment

 

1. Install ROS

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

 

 

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

 

 

sudo apt update

 

 

sudo apt install ros-melodic-desktop-full

 

 

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

 

 

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

 

 

sudo apt install python-rosdep
sudo rosdep init
rosdep update

 

2. Create a ROS Workspace

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make

 

 

3. Other settings

 

Open bashrc file

gedit ~/.bashrc

 

< ~/.bashrc > file

아래 내용을 붙여넣는다. 단축키 설정

source ~/catkin_ws/devel/setup.bash

alias eb='gedit ~/.bashrc'
alias sb='source ~/.bashrc'
alias cw='cd ~/catkin_ws'
alias cs='cd ~/catkin_ws/src'
alias cm='cd ~/catkin_ws && catkin_make'

export ROS_MASTER_URI=http://localhost:11311
export ROS_HOSTNAME=localhost
#export ROS_MASTER_URI=http://192.168.1.11:11311
#export ROS_HOSTNAME=192.168.1.11

source ~/.bashrc

alias : shortcut