ROS环境搭建（indigo）
小狼@http://blog.csdn.net/xiaolangyangyang
一、安装ubuntu14.04 二、安装ROS（indigo） http://wiki.ros.org/indigo/Installation/Ubuntu 三、可能用到的Packages # sudo apt-get install -y \ ros-indigo-turtlebot-bringup \ ros-indigo-turtlebot-create-desktop \ ros-indigo-openni-* \ ros-indigo-openni2-* \ ros-indigo-freenect-* \ ros-indigo-usb-cam \ ros-indigo-laser-* \ ros-indigo-hokuyo-node \ ros-indigo-audio-common \ gstreamer0.10-pocketsphinx \ ros-indigo-pocketsphinx \ ros-indigo-slam-gmapping \ ros-indigo-joystick-drivers \ Python-rosinstall \ ros-indigo-orocos-kdl \ ros-indigo-python-orocos-kdl \ python-setuptools \ ros-indigo-dynamixel-motor-* \ libopencv-dev \ python-OpenCV \ ros-indigo-vision-opencv \ ros-indigo-depthimage-to-laserscan \ ros-indigo-arbotix-* \ ros-indigo-turtlebot-teleop \ ros-indigo-move-base \ ros-indigo-map-server \ ros-indigo-fake-localization \ ros-indigo-amcl \ Git \ subversion \ mercurial 四、创建工作空间 # printenv | grep ROS # source /opt/ros/indigo/setup.bash # mkdir -p ~/catkin_ws/src # cd ~/catkin_ws/src # catkin_init_workspace # cd ~/catkin_ws/ # catkin_make # source devel/setup.bash # echo $ROS_PACKAGE_PATH/home/youruser/catkin_ws/src:/opt/ros/kinetic/share 五、下载rbx1例子 # cd ~/catkin_ws/src# git clone https://github.com/pirobot/rbx1.git# cd rbx1# git checkout indigo-devel# cd ~/catkin_ws# catkin_make# source ~/catkin_ws/devel/setup.bash# rospack profile 或者 # cd ~/catkin_ws/src # git clone https://github.com/pirobot/rbx1.git # cd rbx1 # rosmake 六、测试arbotix simulator # roscore # roslaunch rbx1_bringup fake_turtlebot.launch # rosrun rviz rviz -d `rospack find rbx1_nav`/sim.rviz # rostopic pub -r 10 /cmd_vel geometry_msgs/Twist '{linear: {x: 0.2, y: 0, z: 0}, angular: {x: 0, y: 0, z: 0.5}}' # rostopic pub -1 /cmd_vel geometry_msgs/Twist '{}' 参考文献： ROS Learning-001 安装 ROS indigo