【SLAM】之ROS安装，配置与初试

http://blog.csdn.net/littlethunder/article/details/51920212

我的系统是Ubuntu 15.04 Vivid， 安装ROS Jade。

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 0xB01FA116
sudo apt-get update
sudo apt-get install ros-jade-desktop-full

之后还需要安装模块用apt-get search ros-jade 可以看到全部列表。然后初始化rosdep：

sudo rosdep init
rosdep update

然后配置环境：

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

安装rosinstall：

sudo apt-get install python-rosinstall

接下来检查一下配置环境：

</pre><pre name="code" class="html">>>> printenv | grep ROS
ROS_ROOT=/opt/ros/jade/share/ros
ROS_PACKAGE_PATH=/opt/ros/jade/share:/opt/ros/jade/stacks
ROS_MASTER_URI=http://localhost:11311
ROSLISP_PACKAGE_DIRECTORIES=
ROS_DISTRO=jade
ROS_ETC_DIR=/opt/ros/jade/etc/ros

现在环境配置完了，下面建立一个workspace:

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace

然后跑一个LOAM SLAM的算法，先build：

cd ~/catkin_ws/src
git clone https://github.com/laboshinl/loam_velodyne.git
cd ~/catkin_ws
catkin_make -DCMAKE_BUILD_TYPE=Release
source ~/catkin/devel/setup.bash

然后运行：

roslaunch loam_velodyne loam_velodyne.launch

然后另起一个终端运行：

rosbag play ~/velodyne.bag
#or
roslaunch velodyne_pointcloud VLP16_points.launch pcap:="/home/phd/velodyne.pcap"

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