robot（2）：ROS系统安装

1，关于ROS

http://www.oschina.net/p/ros
ROS (Robot Operating System, 机器人操作系统) 提供一系列程序库和工具以帮助软件开发者创建机器人应用软件。它提供了硬件抽象、设备驱动、库函数、可视化、消息传递和软件包管理等诸多功能。ROS遵守BSD开源许可协议。
ros 开发环境搭建需要ubuntu 14.04 版本。

我这里安装的是ubuntu server 14.04.3 LTS 。使用virtualbox安装的。
http://www.ubuntu.com/download/server

2，安装

virtualbox安装ubuntu 还是非常简单的。
参考：http://jingyan.baidu.com/album/870c6fc30e57ecb03fe4bedd.html

ubuntu配置源，vi /etc/apt/sources.list

deb http://mirrors.163.com/ubuntu/ trusty main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ trusty-security main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ trusty-updates main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ trusty-proposed main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ trusty-backports main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ trusty main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ trusty-security main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ trusty-updates main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ trusty-proposed main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ trusty-backports main restricted universe multiverse

试验下源，安装编译工具：

apt-get install build-essential

安装ros 参考：
http://wiki.ros.org/jade/Installation/Ubuntu

#配置source.list源
sudo sh -c ‘. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list‘
#设置keys
sudo apt-key adv --keyserver hkp://pool.sks-keyservers.net --recv-key 0xB01FA116
#更新
sudo apt-get update
#安装全部桌面环境，包括gui工具。
sudo apt-get install ros-jade-desktop-full

更新报错：

使用中国镜像：http://wiki.ros.org/ROS/Installation/UbuntuMirrors
W: Failed to fetch http://packages.ros.org/ros/ubuntu/dists/trusty/InRelease

使用中国镜像即可：

35 upgraded, 971 newly installed, 0 to remove and 156 not upgraded.
Need to get 422 MB of archives.
After this operation, 1,908 MB of additional disk space will be used.
Do you want to continue? [Y/n] y

3，使用

配置环境变量：

source /opt/ros/jade/setup.sh
将命令放到/etc/profile，开机启动。 
#启动ros，roscore
roscore

ros终于可以使用了。