系統設置及安裝

系統需求

• 一步一步執行下列指令

    $ sudo apt update
    $ sudo apt full-upgrade
    $ 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 sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
    $ wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
    $ sudo apt update
    $ DIST=melodic
    $ GAZ=gazebo9
    $ sudo apt install cmake mercurial git ruby libeigen3-dev ${GAZ} lib${GAZ}-dev pkg-config python ros-${DIST}-gazebo-plugins ros-${DIST}-gazebo-ros ros-${DIST}-hector-gazebo-plugins ros-${DIST}-joy ros-${DIST}-joy-teleop ros-${DIST}-key-teleop ros-${DIST}-robot-localization ros-${DIST}-robot-state-publisher ros-${DIST}-rviz ros-${DIST}-ros-base ros-${DIST}-teleop-tools ros-${DIST}-teleop-twist-keyboard ros-${DIST}-velodyne-simulator ros-${DIST}-xacro ros-${DIST}-rqt ros-${DIST}-rqt-common-plugins protobuf-compiler

建立VRX工作空間

• 新增VRX資料夾

    $ mkdir -p ~/vrx_ws/src
    $ cd ~/vrx_ws/src

• 複製VRX容器

    $ hg clone https://bitbucket.org/osrf/vrx

• Source the ROS setup.bash file:

    $ source /opt/ros/melodic/setup.bash

• Build all the software:

    $ cd ~/vrx_ws
    $ catkin_make

測試是否安裝成功

• Source the VRX setup.bash file: 每次開新的terminal都要重新執行這行指令

    $ source  ~/vrx_ws/devel/setup.bash

• Launch the VRX simulation with a simple world:

    $ roslaunch vrx_gazebo sandisland.launch