ROS 1 Noetic - 설치 및 개발환경 구성 (Ubuntu)

Noetic 설치

1. sources.list 추가

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

 

2. Key 설정

sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

 

3. Noetic 설치

ㅇ 패키지 내역 업데이트

sudo apt update

ㅇ Noetic 설치

• Desktop-Full 버전 설치 (권장)

  sudo apt install ros-noetic-desktop-full

• Desktop 버전 설치

  sudo apt install ros-noetic-desktop​

• ROS 기초 버전 설치

  sudo apt install ros-noetic-ros-base​

ㅇ ROS 패키지 설치

sudo apt install ros-noetic-PACKAGE

 

종속성 설치

1. Python3 Rosdep 설치

sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential

2. Rosdep 초기화

sudo rosdep init
rosdep update

 

환경변수 설정

gedit ~/.bashrc

# set ROS Noetic
source /opt/ros/noetic/setup.bash
source ~/catkin_ws/devel/setup.bash

# set ROS Network (localhost = IP address)
export ROS_MASTER_URI=http://localhost:11311
export ROS_HOSTNAME=localhost

# set ROS alias command
alias cw='cd ~/catkin_ws'
alias cs='cd ~/catkin_ws/src'
alias cm='cd ~/catkin_ws && catkin_make'

 

Workspace 생성

1. Workspace 디렉토리 생성

mkdir -p ~/catkin_ws/src

2. Workspace 만들기

cd ~/catkin_ws/ && catkin_make

 

참고 링크1: http://wiki.ros.org/catkin/Tutorials/create_a_workspace

catkin/Tutorials/create_a_workspace - ROS Wiki

참고 링크2: http://wiki.ros.org/noetic/Installation/Ubuntu

noetic/Installation/Ubuntu - ROS Wiki

참고 링크3: https://cafe.naver.com/openrt/2381