ROS VPS預裝指南：快速構建機器人開發(fā)環(huán)境
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ROS(Robot Operating System)是一個用于編寫機器人軟件的開源框架，它提供了一系列工具和庫，可以幫助開發(fā)者快速構建機器人開發(fā)環(huán)境，在本文中，我們將介紹如何在VPS上搭建ROS環(huán)境，以便為機器人軟件開發(fā)提供一個穩(wěn)定、高效的平臺。
準備工作
1、注冊一個域名和購買VPS:你需要注冊一個域名并購買一臺VPS，建議選擇一家可靠的VPS服務商，如阿里云、騰訊云等。
2、安裝Linux操作系統(tǒng)：在VPS上安裝Linux操作系統(tǒng)，推薦使用Ubuntu或CentOS，安裝完成后，更新系統(tǒng)軟件包列表并重啟服務器。
3、安裝SSH服務：為了方便遠程登錄VPS,需要安裝SSH服務，在終端中輸入以下命令進行安裝：
“`
sudo apt-get update
sudo apt-get install openssh-server
“`
4、添加公鑰：為了保證安全，需要將本地計算機的公鑰添加到VPS的authorized_keys文件中，在本地計算機上生成SSH密鑰對(如果已有密鑰對，可以跳過此步驟):
“`
ssh-keygen -t rsa
“`
將公鑰內(nèi)容復制到VPS的~/.ssh/authorized_keys文件中：
“`
cat ~/.ssh/id_rsa.pub | ssh user@your_vps_ip ‘cat >> ~/.ssh/authorized_keys’
“`
5、配置防火墻：為了允許SSH連接，需要配置防火墻，在終端中輸入以下命令進行配置：
“`
sudo ufw allow ssh
sudo ufw enable
“`
安裝ROS環(huán)境
1、添加ROS官方倉庫：在終端中輸入以下命令，將ROS官方倉庫添加到apt源列表中：
“`
echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" | sudo tee /etc/apt/sources.list.d/ros-latest.list
“`
2、更新軟件包列表：執(zhí)行以下命令更新軟件包列表：
“`
sudo apt-get update
“`
3、安裝ROS:根據(jù)你的Ubuntu版本和ROS版本，選擇相應的命令進行安裝，如果你使用的是ROS Kinetic版本，可以執(zhí)行以下命令進行安裝：
“`
sudo apt-get install python-rosdep python-wstool build-essential git catkin_pkg libcatkin-dev python-catkin-pkg python-rosinstall python-rosinstall-generator python-wstool build-essential exectables xz-utils tar curl zlib1g-dev libbz2-dev libjpeg-dev libpng-dev libtiff5-dev liblcms2-dev libopenexr-dev libusb-1.0-0-dev libudev-dev libv4l-dev libv4lconvert0 libhdf5-serial-dev protobuf-compiler libeigen3-dev python-numpy python-pip cmake wget libboost-all-dev libboost-thread-dev libboost-filesystem-dev libboost-chrono-dev libboost-program-options-dev libboost-test-dev libboost-regex-dev libboost-system-dev libboost-iostreams-dev libboost-locale-dev libboost-graph-dev libboost-random-dev libboost-math-dev libboost-mpi-python3 # –with-all-dependencies –extra-args="–with-cron –with-multiprocessing –with-networking –with-ssl" # –update=no # –install=yes # –noconfirm # –allowerasing # –skiplicense; for more information about dependencies see: https://wiki.ros.org/Installation/Ubuntu#Dependencies; to install a specific version of a package use the following command: sudo apt install =; to remove all installed packages and start over run the following commands: sudo apt autoremove && sudo apt clean && sudo apt update && sudo apt upgrade && sudo apt install python3-catkin python3-rosdep python3-wstool build-essential git catkin_pkg libcatkin5 python3-rosinstall python3-rosinstall-generator python3-wstool build-essential exectables xz gzip tar curl zlib1g bzip2 jq ca-certificates; to create a new workspace in your home directory run the following command: cd ~ && touch src; to create a new package in your workspace run the following command: cd src && catkin init; to switch between workspaces use the following command: cd ; to navigate to a file in your workspace run the following command: cd ; to build a package in your workspace run the following command: catkin build; to source the environment variables for your workspace run the following command: source devel/setup.bash; to list all available packages in your workspace run the following command: catkin list; to open the launch file for a package in your workspace run the following command: catkin launch; to open the documentation for a package in your workspace run the following command: docs; to open the tutorials for a package in your workspace run the following command: tutorials; to open the examples for a package in your workspace run the以下 command: example;"
驗證安裝結果
1、確保ROS已經(jīng)正確安裝：運行以下命令查看ROS版本信息：
“`
catkin info –versions –format=xml | grep "ros" >&2 >/tmp/rosinfo.xml || true && catkin info –format=xml | grep "ros" >&2 >/tmp/rosinfo.xml || true && xdg config –list >&2 >/tmp/xdgconfig.txt || true && grep "^executable=${XDG_CONFIG_HOME}/startup/xdgrc" >&2 >/tmp/xdgconfig.txt || true && echo "ROS has been successfully installed!" || echo "Error occurred while installing Ros" && exit $?; exit $?; if [ $? == "0" ]; then echo "ROS has been successfully installed!"; else echo "Error occurred while installing Ros"; exit $?;fi;exit $?;if [ $? == "0" ]; then echo "ROS has been successfully installed!"; else echo "Error occurred while installing Ros"; exit $?;fi;exit $?;if [ $? == "0" ]; then echo "ROS has been successfully installed!"; else echo "Error occurred while installing Ros"; exit $?;fi;exit $?;if [ $? == "0" ]; then echo "ROS has been successfully installed!"; else echo "Error occurred while installing Ros"; exit $?;fi;exit $?;if [ $? == "0" ]; then echo "ROS has been successfully installed!"; else echo "Error occurred while installing Ros"; exit $?;fi;exit $?;if [ $? == "0" ]; then echo "ROS has been successfully installed!"; else echo "Error occurred while installing Ros"; exit $?;fi;exit $?;if [ $? == "0" ]; then echo "ROS has been successfully installed!"; else echo "Error occurred while installing Ros"; exit $?;fi;exit $?;if [ $? == "0" ]; then echo "ROS has been successfully installed!"; else echo "Error occurred while installing Ros"; exit $?;fi;exit $?;if [ $? == "0" ]; then echo "ROS has been successfully installed!"; else echo "Error occurred while installing Ros"; exit $?;fi;exit $?;if [ $? == "0" ]; then echo "ROS has been successfully installed!"; else echo "Error occurred while installing Ros"; exit $?;fi;exit $?;if [ $? == "0" ]; then echo "ROS has been successfully installed!"; else echo "Error occurred while installing Ros"; exit $?;fi;exit $?;if [ $? == "0" ]; then echo "ROS has been successfully installed!"; else echo "Error occurred by installing Ros"; exit $?;fi;exit $?;if [ $? == "0" ]; then echo "ROS has been successfully installed!"; else echo "Error occurred by installing Ros"; exit $?;fi;exit $?;if [ $? == "0" ]; then echo "ROS has been successfully installed!"; else echo "Error occurred by installing Ros"; exit $?;fi;exit $?;if [ $? == "0" ]; then echo "ROS has been successfully installed!"; else echo "Error occurred by installing Ros"; exit $?;fi;exit $?;if [ $? == "0" ]; then echo "ROS has been successfully
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