ROS VPS预装指南：快速构建机器人开发环境

ROS（Robot Operating System）是一个用于机器人软件开发的开源框架，在VPS（Virtual Private Server）上预装ROS可以帮助开发者快速构建机器人开发环境，下面是一份详细的ROS VPS预装指南：

1、选择合适的VPS提供商

比较不同VPS提供商的价格、性能和可靠性。

确保VPS提供商支持ROS所需的操作系统和软件版本。

2、创建VPS实例

登录到VPS提供商的控制台，选择创建新的VPS实例。

根据需求选择操作系统和硬件配置。

设置SSH密钥以便于远程访问。

3、连接到VPS

使用SSH客户端连接到VPS实例。

输入用户名和密码进行身份验证。

4、更新系统软件包

运行以下命令更新系统软件包：

“`

sudo aptget update

sudo aptget upgrade

“`

5、安装依赖项

运行以下命令安装ROS所需的依赖项：

“`

sudo aptget install pythonrosdep pythonrosinstall pythonwstool buildessential

“`

6、初始化ROS软件包管理器

运行以下命令初始化ROS软件包管理器：

“`

sudo rosdep init

rosdep update

“`

7、创建工作空间

运行以下命令创建一个新的工作空间：

“`

mkdir p ~/catkin_ws/src

cd ~/catkin_ws/src

“`

8、下载ROS核心软件包

运行以下命令下载ROS核心软件包：

“`

catkin_init_workspace src devel cmakeargs DCMAKE_BUILD_TYPE=Release DCATKIN_BLACKLISTED_PACKAGES="" DCATKIN_ENABLE_TESTING=False DCMAKE_INSTALL_PREFIX=/opt/ros/melodic DCMAKE_PREFIX_PATH=/opt/ros/melodic DCATKIN_DEPENDS="roscpp;rospy;std_msgs;geometry_msgs;sensor_msgs;nav_msgs;tf;message_runtime" DCATKIN_EXPORT_PACKAGE_BINARYPROTOCOL=ON G "Unix Makefiles" build forcecmake pkgconfig /opt/ros/melodic/lib/pkgconfig includedirs /opt/ros/melodic/include DCATKIN_TOPLEVEL_TAG=devel j2 l2 lgomp lpthread lrt ldl lm lstdc++ lcurl Wnounusedcommandlineargument Wnodeprecateddeclarations Wnoreturntype Wnounusedlocaltypedefs Wnosigncompare Wnounusedparameter Wnounusedvariable Wnounusedbutsetvariable Wnostrictoverflow Wnouninitialized Wnounknownwarningoption Q unix make cmake_modules linking)

“`

9、编译工作空间

运行以下命令编译工作空间：

“`

catkin_make pkg $PWD/.. output $PWD/build cmakeargs DCMAKE_BUILD_TYPE=Release DCATKIN_BLACKLISTED_PACKAGES="" DCATKIN_ENABLE_TESTING=False DCMAKE_INSTALL_PREFIX=/opt/ros/melodic DCMAKE_PREFIX_PATH=/opt/ros/melodic DCATKIN_DEPENDS="roscpp;rospy;std_msgs;geometry_msgs;sensor_msgs;nav_msgs;tf;message_runtime" DCATKIN_EXPORT_PACKAGE_BINARYPROTOCOL=ON G "Unix Makefiles" build forcecmake pkgconfig /opt/ros/melodic/lib/pkgconfig includedirs /opt/ros/melodic/include DCATKIN_TOPLEVEL_TAG=devel j2 l2 lgomp lpthread lrt ldl lm lstdc++ lcurl Wnounusedcommandlineargument Wnodeprecateddeclarations Wnoreturntype Wnounusedlocaltypedefs Wnosigncompare Wnounusedparameter Wnounusedvariable Wnounusedbutsetvariable Wnostrictoverflow Wnouninitialized Wnounknownwarningoption Q unix make cmake_modules linking)

“`

10、安装ROS核心软件包

运行以下命令安装ROS核心软件包：

“`

sudo catkin_make install prefix=/opt/ros/melodic target=$PWD/build cmakeargs DCMAKE_BUILD_TYPE=Release DCATKIN_BLACKLISTED_PACKAGES="" DCATKIN_ENABLE_TESTING=False DCMAKE_INSTALL_PREFIX=/opt/ros/melodic DCMAKE_PREFIX_PATH=/opt/ros/melodic DCATKIN_DEPENDS="roscpp;rospy;std_msgs;geometry_msgs;sensor_msgs;nav_msgs;tf;message_runtime" DCATKIN_EXPORT_PACKAGE_BINARYPROTOCOL=ON G "Unix Makefiles" build forcecmake pkgconfig /opt/ros/melodic/lib/pkgconfig includedirs /opt/ros/melodic/include DCATKIN_TOPLEVEL_TAG=devel j2 l2 lgomp lpthread lrt ldl lm lstdc++ lcurl install useninja install)

“`