在新电脑装ubuntu包

1、安装ubuntu18.042、安装roshttps://blog.csdn.net/zhuanzhuxuexi/article/details/132560816?spm1001.2014.3001.55023、导入包将另一台电脑的包U盘导入4、新建空间mkdir -p ~/catkin_ws/src cd catkin_ws # 安装依赖 sudo apt update -qq添加配置防止报错sudo gedit /etc/hosts在下面添加151.101.84.133 raw.githubusercontent.com保存关闭sudo mkdir -p /etc/ros/rosdep/ sources.list .d sudo gedit 20-default.list添加# os-specific listings first yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx # generic yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml gbpdistro https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml fuerte # newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead安装包rosdep install --from-paths src --ignore-src -y提示缺少依赖安装缺失的依赖RealSense 相关librealsense2- Intel RealSense SDKsri- SRI 传感器驱动机器人控制相关joy- ROS 游戏手柄控制包libpcan- PCAN CAN 总线驱动soem- EtherCAT 主站库socketcan_interface- SocketCAN 接口UR 机器人相关speed_scaling_state_controller- UR 速度缩放控制器MoveIt 相关moveit_visual_tools- MoveIt 可视化工具1. 安装缺失的系统包# 下载安装包 git clone https://github.com/IntelRealSense/librealsense.git cd librealsense # 更新依赖库 sudo apt-get update sudo apt-get upgrade sudo apt-get dist-upgrade # 安装依赖库 sudo apt-get install libudev-dev pkg-config libgtk-3-dev sudo apt-get install libusb-1.0-0-dev pkg-config sudo apt-get install libglfw3-dev sudo apt-get install libssl-dev # 运行Intel Realsense许可脚本 chmod x ./scripts/setup_udev_rules.sh ./scripts/setup_udev_rules.sh # 下载并编译内核模块 chmod x ./scripts/patch-realsense-ubuntu-lts.sh ./scripts/patch-realsense-ubuntu-lts.sh # 编译SDK2.0 cd librealsense mkdir build cd build cmake .. \ -DCMAKE_BUILD_TYPERelease \ -DBUILD_EXAMPLESfalse \ -DBUILD_GRAPHICAL_EXAMPLESfalse \ -DBUILD_PYTHON_BINDINGSfalse \ -DUSE_RSUSB_BACKENDtrue \ -DDISABLE_FWtrue # 关键禁用固件下载 make sudo make install# 更新软件源 sudo apt update # 安装 RealSense SDK sudo apt install ros-melodic-realsense2-camera sudo apt install ros-melodic-realsense2-description # 安装游戏手柄支持 sudo apt install ros-melodic-joy sudo apt install joystick # 安装 SocketCAN sudo apt install ros-melodic-socketcan-interface sudo apt install can-utils # 安装 MoveIt 工具 sudo apt install ros-melodic-moveit-visual-tools sudo apt install ros-melodic-moveit-ros-visualization2. 安装第三方库PCAN 驱动# 从 Peak System 官网下载或编译 cd /tmp wget https://www.peak-system.com/fileadmin/media/linux/files/peak-linux-driver-8.15.2.tar.gz tar -xzvf peak-linux-driver-*.tar.gz cd peak-linux-driver-* make sudo make install sudo modprobe pcanSOEM 库# 编译安装 SOEM cd /tmp git clone https://github.com/OpenEtherCATsociety/SOEM.git cd SOEM mkdir build cd build cmake .. make sudo make installSRI 传感器驱动如果找不到# 可能需要从源码编译 cd ~/catkin_ws/src git clone https://github.com/ros-drivers/sri-ftsensor-driver.git对于 UR 机器人驱动# 安装 UR 特定控制器 sudo apt install ros-melodic-ur-robot-driver sudo apt install ros-melodic-speed-scaling-state-controller sudo apt install ros-melodic-joint-state-controller sudo apt install ros-melodic-effort-controllers对于 Allegro Hand# 安装控制相关包 sudo apt install ros-melodic-gazebo-ros-control sudo apt install ros-melodic-ros-control sudo apt install ros-melodic-ros-controllers继续安装# 再次运行 rosdep install cd ~/catkin_ws rosdep install --from-paths src --ignore-src -y # 如果还有问题尝试编译 catkin_make