ubuntu20.04 安装ros

安装ROS的步骤如下：

1. 添加ROS软件源

   sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

2. 添加ROS公钥

   sudo apt install curl
   curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

3. 更新软件包索引

   sudo apt update

4. 安装ROS

   sudo apt install ros-noetic-desktop-full

5. 初始化rosdep

   sudo rosdep init
   rosdep update

6. 设置环境变量

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

7. 测试安装

   roscore

如果没有问题，会看到类似以下的输出：

... logging to /home/user/.ros/log/42f8e9d0-7a5c-11eb-8f3d-080027a9f4e1/roslaunch-ubuntu-1234.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:34115/

SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.15.9

NODES

auto-starting new master
process[master]: started with pid [1245]
ROS_MASTER_URI=http://ubuntu:11311/

setting /run_id to 42f8e9d0-7a5c-11eb-8f3d-080027a9f4e1
process[rosout-1]: started with pid [1258]
started core service [/rosout]