# ROS-noetic安装，应用于Ubuntu20.04lts
## 注：最好全程使用root权限
```c
sudo vim /etc/apt/sources.list  # 进入apt下载源文件
```

删除所有ubuntu官方源，添加清华源
```c
# 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse

# 以下安全更新软件源包含了官方源与镜像站配置，如有需要可自行修改注释切换
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted universe multiverse
deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted universe multiverse

# 预发布软件源，不建议启用
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-proposed main restricted universe multiverse
deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-proposed main restricted universe multiverse
```

添加ROS源地址
```c
sudo sh -c 'echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal main" > /etc/apt/sources.list.d/ros-latest.list'
```
设置密钥
```c
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-keys 6A030B21B4D2B67B
```
更新源
```c
sudo apt update
```
安装ROS-noetic
```c
sudo apt install ros-noetic-desktop-full
```
初始化 rosdep
```c
sudo rosdep init
rosdep update
```
配置环境变量
```c
source /opt/ros/noetic/setup.bash
source ~/.bashrc
```
安装ROS-python3工具包
```c
sudo apt install python3-rosinstall python3-rosinstall-generator python3-wstool
sudo apt install build-essential
```
环境配置检测
```c
# 确保环境配置
source /opt/ros/noetic/setup.bash
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
# 确保ROS安装完整
sudo apt install --reinstall ros-noetic-desktop-full
# 检测roslaunch是否安装
dpkg -l | grep ros-noetic-roslaunch
# 若roslaunch以安装则无需执行下条命令
sudo apt install ros-noetic-roslaunch
```
启动roscore
```c
roscore
```
启动小乌龟
```c
rosrun turtlesim turtlesim_node
```
控制小乌龟（新终端窗口打开）
```c
rosrun turtlesim turtle_teleop_key
```

# 二
编译工作空间
```c
catkin_make
```
启动roscore
```c
roscore
```
添加环境变量
```c
source /home/zmn/Gitea/ROS_Learn/devel/setup.bash
```
启动发送端
```c
rosrun position_demo publisher_node.py
```
启动客户端
```c
rosrun position_demo subscriber_node.py
```
启动RViz
```c
rviz
```
将RViz左侧 Global Options 面板中 Fixed Frame 改为程序中的 world 。
在 Displays 面板中，点击 Add，添加 Marker 类型。

# 三
编译工作空间
```c
catkin_make
```
启动roscore
```c
roscore
```
添加环境变量
```c
source /home/zmn/Gitea/ROS_Learn/devel/setup.bash
```
启动发送端
```c
rosrun position_demo publisher_node_three.py
```
启动客户端
```c
rosrun position_demo subscriber_node_three.py
```
启动RViz
```c
rviz
```
将RViz左侧 Global Options 面板中 Fixed Frame 改为程序中的 world 。
在 Displays 面板中，点击 Add，添加 Marker 类型。