Installing ROS Noetic on Ubuntu20.04

This article refers to the ROS official website http://wiki.ros.org/ and its relevant installation tutorial.

I. Preparation

1. Add the ROS Software Repository

Open Software & Updates and select the first four download options. Make sure all of them are checked, or dependency issues will occur during installation. Then run the following command to add the software repository.

sudo sh -c 'echo "deb https://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

2. Add the Public Key

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

3. Update the Package Index

sudo apt-get update

II. Install ROS

1. Install ROS

Installing the full desktop version is recommended.

sudo apt install ros-noetic-desktop-full

2. Set Environment Variables

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

3. Initialize rosdep

Before using many ROS tools, you need to initialize rosdep. rosdep is required to run some core ROS components. First, install rosdep.

sudo apt install python3-rosdep

Then initialize it.

sudo rosdep init
rosdep update

If rosdep init reports 【ERROR: cannot download default sources list from:… Website may be down.】 If rosdep update times out: Solution: 1.sudo apt-get install python3-pip 2.sudo pip3 install rosdepc 3.sudo rosdepc init 4.rosdepc update

4. Install Other Tools and Dependencies

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

III. Test

Open a terminal, enter roscore, and run ROS. Then open a new terminal and enter rosrun turtlesim turtlesim_node. The turtle simulation interface will open. Then open another new terminal and enter the command rosrun turtlesim turtle_teleop_key. In this terminal, you can use the keyboard arrow keys to control the turtle’s movement in the interface.