Cài đặt ROS AGV (Kinetic on Ubuntu 16.04)

sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

B3:Cài đặt :

sudo apt-get update

Desktop-Full Install: (Recommended) : ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception

sudo apt-get install ros-kinetic-desktop-full

• Desktop Install: ROS, rqt, rviz, and robot-generic libraries

  • sudo apt-get install ros-kinetic-desktop

    or click here

  ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools.

  • sudo apt-get install ros-kinetic-ros-base

    or click here

  Individual Package: You can also install a specific ROS package (replace underscores with dashes of the package name):

  • sudo apt-get install ros-kinetic-PACKAGE

    e.g.

    sudo apt-get install ros-kinetic-slam-gmapping

To find available packages, use:

apt-cache search ros-kinetic

Bước tiếp theo cài đặt môi trường 

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

If you have more than one ROS distribution installed,  must only source the  for the version you are currently using.

If you just want to change the environment of your current shell, instead of the above you can type:

source /opt/ros/kinetic/setup.bash

If you use zsh instead of bash you need to run the following commands to set up your shell:

echo "source /opt/ros/kinetic/setup.zsh" >> ~/.zshrc
source ~/.zshrc

Dependencies for building packages

Up to now you have installed what you need to run the core ROS packages. To create and manage your own ROS workspaces, there are various tools and requirements that are distributed separately. For example, rosinstall is a frequently used command-line tool that enables you to easily download many source trees for ROS packages with one command.

To install this tool and other dependencies for building ROS packages, run:

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

Initialize rosdep

Before you can use many ROS tools, you will need to initialize .  enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS. If you have not yet installed , do so as follows.

sudo apt install python-rosdep

With the following, you can initialize .

sudo rosdep init
rosdep update

Để chạy Thử chúng ta thử chạy :roscore 

Trên 1 Terminal

Sau đó chúng ta chạy turtlesim 

rosrun turtlesim turtlesim_node

Nếu cài đặt thành công sẽ hiển thị như sau: