【SLAM】之ROS安装，配置与初试

sdfsdnfslk

　　我的系统是Ubuntu 15.04 Vivid， 安装ROS Jade。



[plain] view plain copy

• 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://ha.pool.sks-keyservers.net:80 --recv-key 0xB01FA116
  
• sudo apt-get update
  
• sudo apt-get install ros-jade-desktop-full
  

　　之后还需要安装模块用apt-get search ros-jade 可以看到全部列表。然后初始化rosdep：



[plain] view plain copy

• sudo rosdep init
  
• rosdep update
  

　　然后配置环境：



[plain] view plain copy

• echo "source /opt/ros/jade/setup.bash" >> ~/.bashrc
  
• source ~/.bashrc
  

　　安装rosinstall：



[plain] view plain copy

• sudo apt-get install python-rosinstall
  

　　接下来检查一下配置环境：



[plain] view plain copy

• </pre><pre name="code" class="html">>>> printenv | grep ROS
  
• ROS_ROOT=/opt/ros/jade/share/ros
  
• ROS_PACKAGE_PATH=/opt/ros/jade/share:/opt/ros/jade/stacks
  
• ROS_MASTER_URI=http://localhost:11311
  
• ROSLISP_PACKAGE_DIRECTORIES=
  
• ROS_DISTRO=jade
  
• ROS_ETC_DIR=/opt/ros/jade/etc/ros
  

　　现在环境配置完了，下面建立一个workspace:



[plain] view plain copy

• mkdir -p ~/catkin_ws/src
  
• cd ~/catkin_ws/src
  
• catkin_init_workspace
  

　　然后跑一个LOAM SLAM的算法，先build：



[plain] view plain copy

• cd ~/catkin_ws/src
  
• git clone https://github.com/laboshinl/loam_velodyne.git
  
• cd ~/catkin_ws
  
• catkin_make -DCMAKE_BUILD_TYPE=Release
  
• source ~/catkin/devel/setup.bash
  

　　然后运行：



[plain] view plain copy

• roslaunch loam_velodyne loam_velodyne.launch
  

　　然后另起一个终端运行：



[plain] view plain copy

• rosbag play ~/velodyne.bag
  
• #or
  
• roslaunch velodyne_pointcloud VLP16_points.launch pcap:="/home/phd/velodyne.pcap"
  

　　
转载请注明：转自http://blog.csdn.net/littlethunder/article/details/51920212