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【上海校区】Ubuntu 16.04 + ROS Kinetic 机器人操作系统学习镜...

© 不二晨 金牌黑马   /  2018-9-10 10:15  /  739 人查看  /  1 人回复  /   0 人收藏 转载请遵从CC协议 禁止商业使用本文

【转载】https://blog.csdn.net/ZhangRelay/article/details/54632130
Ubuntu 16.04 + ROS Kinetic 镜像分享与使用安装说明

内容概要：1 网盘文件介绍  2 镜像制作  3 系统使用与安装

---- 祝ROS爱好者和开发者新年快乐：-） ----

镜像iso约1.7GB，更多功能在网盘中查找即可。

1 网盘文件介绍

链接: https://pan.baidu.com/s/1hulIXwC 密码: 7udr

打开后，目前有5个文件夹，分别为pic、iso、code、build、book。

pic图片目录，iso镜像目录，code学习ROS一些代码压缩包，build制作镜像文件，book书籍分享。


在iso文件夹可以看到镜像文件ExbotBook_xxx.iso，由于之前发布镜像太大，目前这个镜像就是纯净版，只有Ubuntu 16.04，ROS Kinetic，Gazebo 7.5，MoveIt!以及学习的代码示例，稍后会在试用时做详细介绍。之后，会依据需求更新并增加镜像，定制版镜像制作也会在后续博客中介绍。下载完成后，在build文件夹下载Universal-USB-Installer用于制作启动盘。


2 镜像制作

特别说明，试用时需要在BIOS设置Secure Boot为Disabled，安装完成后再开启Enable。

本镜像制作支持UEFI+Legacy启动，所以使用UEFI/Legacy Boot皆可。

制作过程如下：

  

需要勾选Showing *ISOs，点击Create：

  

等待制作完成，约4-8分钟，休息一下:-)


好，镜像制作完成，重启电脑即可使用。下面内容均在U盘系统中完成。


3 系统试用与安装

选择试用exbotbook即可试用此系统。桌面如下：


系统用户名：rosfun  密码：exbot

已经编译好可以使用的功能包如下：


当然，也可以在终端再编译一下看看，当然这是U盘灯会快闪：-)



  • rosfun@rosfun:~$ cd dev/catkin_ws/



  • rosfun@rosfun:~/dev/catkin_ws$ catkin_make



  • Base path: /home/rosfun/dev/catkin_ws



  • Source space: /home/rosfun/dev/catkin_ws/src



  • Build space: /home/rosfun/dev/catkin_ws/build



  • Devel space: /home/rosfun/dev/catkin_ws/devel



  • Install space: /home/rosfun/dev/catkin_ws/install



  • ####



  • #### Running command: "make cmake_check_build_system" in "/home/rosfun/dev/catkin_ws/build"



  • ####



  • ####



  • #### Running command: "make -j4 -l4" in "/home/rosfun/dev/catkin_ws/build"



  • ####



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  • [  4%] Generating dynamic reconfigure files from cfg/chapter2.cfg: /home/rosfun/dev/catkin_ws/devel/include/chapter2_tutorials/chapter2Config.h /home/rosfun/dev/catkin_ws/devel/lib/python2.7/dist-packages/chapter2_tutorials/cfg/chapter2Config.py



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  • Generating reconfiguration files for chapter2_ in chapter2_tutorials



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  • [ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsActionGoal



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  • [ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsActionFeedback



  • [ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsFeedback



  • [ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsActionResult



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  • [ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsAction



  • [ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GraspGeneratorOptions



  • [ 36%] Built target move_group_remove_object



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  • [ 39%] Built target sphero_gazebo_xacro_generated_to_devel_space_



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  • Scanning dependencies of target chap2_example4



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  • [100%] Linking CXX executable /home/rosfun/dev/catkin_ws/devel/lib/chapter2_tutorials/chap2_example4



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  • rosfun@rosfun:~/dev/catkin_ws$





举2个例子说明一下：

rviz:ROS数据可视化工具

$ roscore

$ rviz

$ roslaunch chapter3_tutorials example9.launch


可以观察到红色方块在rviz中缓慢移动：



gazebo:（model已经完全下载好，ROS仿真利器）

$ roslaunch sphero_gazebo main.launch

$ roslaunch sphero_gazebo keyboard_teleop.launch




使用键盘控制小钢球在环境中移动，体验一下三维物理引擎仿真的效果（Gazebo 7.5）


当然书中的例子，以及github上代码有兴趣都可以尝试。

如果看到这里，想要安装后使用，请阅读如下文字：

如果对Linux不熟悉的话，冲动是魔鬼，先在U盘系统多多练习学习就好，否则万一安装失败windows没了怎么办，即使安装成功，无法进入windows怎么办，提示风险哦 ;-)

安装说明：

这时，如果你想安装，点击桌面右上角图标，是木有结果的：-)确定安装请往下看：

打开终端，输入$ sudo ubiquity    输入密码：exbot

熟悉的安装界面出现了：



请注意下面警告，谨慎操作：




安装步骤和Ubuntu一模一样，安装完成后，如果windows系统不见了，UEFI/Legacy情况不同，可查找解决。

Legacy比较简单，进入系统后在终端输入 sudo update-grub 或 sudo update-grub2 即可。


-End-

镜像制作稍后补充，可选用Pinguy Builder（已预装），Remastersys，respin。在sourceforge或github上可以下载。



1 个回复

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不二晨 金牌黑马 2018-9-13 16:29:41
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沙发

很不错，受教了
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