安裝并配置ROS環(huán)境

官方網(wǎng)址鏈接

1.配置ROS環(huán)境

$ source /opt/ros/kinetic/setup.bash```

$ echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
$ source ~/.bashrc```

You will need to run this command on every new shell you open to have access to the ROS commands, unless you add this line to your .bashrc. This process allows you to install several ROS distributions (e.g. indigo and kinetic) on the same computer and switch between them.

2.Create a ROS Workspace

（這些命令適用于ROS Groovy及以后版本。）
創(chuàng)建一個(gè)** ctakin workspace **：

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace```
創(chuàng)建完成后工作空間是空的，**src**中沒(méi)有**package**，只有一個(gè)**CMakeLists.txt**文件。但是仍然可以***build***工作空間：

$ cd ~/catkin_ws/
$ catkin_make```
組建完成后，在當(dāng)前目錄下會(huì)出現(xiàn)build和devel文件夾，在devel文件夾下有很多
setup.sh文件，source*其中任何一個(gè)都將你的工作空間覆蓋在你的環(huán)境上。
確保工作空間被setup script覆蓋，確保ROS_PACKAGE_PATH 環(huán)境變量包含你在的那個(gè)文件夾。

$ echo $ROS_PACKAGE_PATH
/home/youruser/catkin_ws/src:/opt/ros/kinetic/share:/opt/ros/kinetic/stacks```