1 准备工作
apt-get install python-rosdep python-rosinstall-generator python-wstool build-essential
出现错误，找不到源 ，那个就要进入提示的页面：If you have trouble installing the packages in the command above, make sure
you have added the packages.ros.org debian repository to your apt source lists as described starting here:
groovy/Installation/Ubuntu#groovy.2BAC8-Installation.2BAC8-Sources.Setup_your_sources.list
按照里面步骤更新源，目的是能够安装ROS的工具，安装以下依赖库
sudo apt-get install build-essential python-yaml cmake subversion wget python-setuptools mercurial git-core python-rosdep python-rospkg python-rosinstall
sudo apt-get install python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config
sudo apt-get install python-wxgtk2.8 python-gtk2 python-matplotlib libwxgtk2.8-dev python-imaging libqt4-dev graphviz qt4-qmake python-numpy ros-fuerte-swig-wx
wget http://peak.telecommunity.com/dist/ez_setup.py
python ez_setup.py
利用easy_install安装pip：（http://www.ros.org/wiki/ROS/Installation/EasyInstallConfig）
sudo easy_install pip
然后安装以下的包：（http://www.ros.org/wiki/fuerte/Installation/Ubuntu/Source）
sudo pip install -U rosdep
sudo pip install -U rosinstall
sudo pip install -U rospkg
安装python-wstool：
pip install -U wstool
redep初始化：
sudo rosdep init
rosdep update
2 下载源码
mkdir ~/ros_catkin_ws
cd ~/ros_catkin_ws
3 我晕 搞错了
Setup your sources.list
-
Ubuntu 11.10 (Oneiric armel)
sudo sh -c 'echo "deb http://packages.ros.org/ahendrix-mirror/ubuntu oneiric main" > /etc/apt/sources.list.d/ros-latest.list'
Ubuntu 12.04 (Precise armel)
sudo sh -c 'echo "deb http://packages.ros.org/ahendrix-mirror/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'
Ubuntu 12.04 (Precise armhf)
sudo sh -c 'echo "deb http://packages.namniart.com/repos/ros precise main" > /etc/apt/sources.list.d/ros-latest.list'
Ubuntu 12.10 (Quantal armhf)
sudo sh -c 'echo "deb http://packages.namniart.com/repos/ros quantal main" > /etc/apt/sources.list.d/ros-latest.list'
Set up your keys
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
wget http://packages.namniart.com/repos/namniart.key -O - | sudo apt-key add -
Installation
First, make sure your Debian package index is up-to-date:
sudo apt-get update
There are many different libraries and tools in ROS. Most of the default configurations do not yet compile fully on ARM. You can also install ROS packages individually.
-
ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools.
sudo apt-get install ros-groovy-ros-base
Individual Package: You can install a specific ROS package (replace underscores with dashes of the package name):
-
sudo apt-get install ros-groovy-PACKAGE
e.g.
sudo apt-get install ros-groovy-ros
To find available packages, use:
apt-cache search ros-groovy
这里我选择在zynq上安装的是ROS-Base包，不含GUI
Initialize rosdep
sudo apt-get install python-rosdep
sudo rosdep init
rosdep update
Environment setup
echo "source /opt/ros/groovy/setup.bash" >> ~/.bashrc
source ~/.bashrc
source /opt/ros/groovy/setup.bash
Getting rosinstall
sudo apt-get install python-rosinstall