注意:以下的操作均在虚拟机上完成。虚拟机可以使用免费的Virtual Box或者相对高级的VMare。
使用Ubuntu Server
安装GUI桌面
sudo apt update
sudo apt upgrade
sudo add-apt-repository universe
sudo add-apt-repository multiverse
sudo apt install tasksel
sudo tasksel
reboot
apt
或者apt-get
指令,提供高效的多线程并行下载。ROS1
# rosrun
rosmaster
rosrun rospy_tutorials talker
rosrun rospy_tutorials listener
# roslaunch
roslaunch rospy_tutorials talker_listener.launch
ROS2
# run
ros2 run demo_nodes_py talker
ros2 run demo_nodes_py listener
# launch
ros2 launch demo_nodes_cpp talker_listener.launch.py
~/.bashrc
文件末尾加入以下代码# Configure the version of ROS
echo "Choose ROS version"
echo " [0] No ROS (by default)"
echo " [1] ROS1 Noetic"
echo " [2] ROS2 Galactic"
read -t 5 -p "Your choice: " -n1 edition
echo
if [ "$edition" = "1" ];then
source /opt/ros/noetic/setup.bash
elif [ "$edition" = "2" ];then
source /opt/ros/galactic/setup.bash
fi
apt
安装就好。使用 vbox 或者 vmare 导出OVA格式虚拟机虚拟机文件。