在新电脑装ubuntu包

1、安装ubuntu18.04

2、安装ros

https://blog.csdn.net/zhuanzhuxuexi/article/details/132560816?spm=1001.2014.3001.5502

3、导入包

将另一台电脑的包U盘导入

4、新建空间

mkdir -p ~/catkin_ws/src && cd catkin_ws
# 安装依赖
sudo apt update -qq

添加配置，防止报错

sudo gedit /etc/hosts

在下面添加：

151.101.84.133 raw.githubusercontent.com

保存关闭

sudo mkdir -p /etc/ros/rosdep/ sources.list .d

sudo gedit 20-default.list

添加：

# os-specific listings first
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx
 
# generic
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
gbpdistro https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml fuerte
 
# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead

安装包

rosdep install --from-paths src --ignore-src -y

提示缺少依赖：

安装缺失的依赖

RealSense 相关：

• librealsense2- Intel RealSense SDK

• sri- SRI 传感器驱动

机器人控制相关：

• joy- ROS 游戏手柄控制包

• libpcan- PCAN CAN 总线驱动

• soem- EtherCAT 主站库

• socketcan_interface- SocketCAN 接口

UR 机器人相关：

• speed_scaling_state_controller- UR 速度缩放控制器

MoveIt 相关：

moveit_visual_tools- MoveIt 可视化工具

1. 安装缺失的系统包

   下载安装包

   git clone https://github.com/IntelRealSense/librealsense.git
   cd librealsense

   更新依赖库

   sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade

   安装依赖库

   sudo apt-get install libudev-dev pkg-config libgtk-3-dev
   sudo apt-get install libusb-1.0-0-dev pkg-config
   sudo apt-get install libglfw3-dev
   sudo apt-get install libssl-dev

   运行Intel Realsense许可脚本

   chmod +x ./scripts/setup_udev_rules.sh
   ./scripts/setup_udev_rules.sh

   下载并编译内核模块

   chmod +x ./scripts/patch-realsense-ubuntu-lts.sh
   ./scripts/patch-realsense-ubuntu-lts.sh

   编译SDK2.0

   cd librealsense
   mkdir build
   cd build
   cmake ..
   -DCMAKE_BUILD_TYPE=Release
   -DBUILD_EXAMPLES=false
   -DBUILD_GRAPHICAL_EXAMPLES=false
   -DBUILD_PYTHON_BINDINGS=false
   -DUSE_RSUSB_BACKEND=true
   -DDISABLE_FW=true # 关键：禁用固件下载
   make
   sudo make install

   更新软件源

   sudo apt update

   安装 RealSense SDK

   sudo apt install ros-melodic-realsense2-camera
   sudo apt install ros-melodic-realsense2-description

   安装游戏手柄支持

   sudo apt install ros-melodic-joy
   sudo apt install joystick

   安装 SocketCAN

   sudo apt install ros-melodic-socketcan-interface
   sudo apt install can-utils

   安装 MoveIt 工具

   sudo apt install ros-melodic-moveit-visual-tools
   sudo apt install ros-melodic-moveit-ros-visualization

2. 安装第三方库

PCAN 驱动：

# 从 Peak System 官网下载或编译
cd /tmp
wget https://www.peak-system.com/fileadmin/media/linux/files/peak-linux-driver-8.15.2.tar.gz
tar -xzvf peak-linux-driver-*.tar.gz
cd peak-linux-driver-*
make
sudo make install
sudo modprobe pcan

SOEM 库：

# 编译安装 SOEM
cd /tmp
git clone https://github.com/OpenEtherCATsociety/SOEM.git
cd SOEM
mkdir build
cd build
cmake ..
make
sudo make install

SRI 传感器驱动（如果找不到）：

# 可能需要从源码编译
cd ~/catkin_ws/src
git clone https://github.com/ros-drivers/sri-ftsensor-driver.git

对于 UR 机器人驱动：

# 安装 UR 特定控制器
sudo apt install ros-melodic-ur-robot-driver
sudo apt install ros-melodic-speed-scaling-state-controller
sudo apt install ros-melodic-joint-state-controller
sudo apt install ros-melodic-effort-controllers

对于 Allegro Hand：

# 安装控制相关包
sudo apt install ros-melodic-gazebo-ros-control
sudo apt install ros-melodic-ros-control
sudo apt install ros-melodic-ros-controllers

继续安装

# 再次运行 rosdep install
cd ~/catkin_ws
rosdep install --from-paths src --ignore-src -y

# 如果还有问题，尝试编译
catkin_make