Win10-WSL-Ubuntu18.04-ROS-melodic 安装与配置

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一、WSL 安装 Ubuntu18.04

  1. Win10 启用 WSL

管理员身份运行：

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dism.exe /online /enable-feature /featurename:Microsoft-Windows-Subsystem-Linux /all /norestart

重启电脑。

  1. 打开 Microsoft Store，安装 Ubuntu18.04

  2. 启动 Ubuntu18.04，创建账号、密码

  3. 安装 Windows Terminal（可选）

用 scoop 安装。

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scoop install windows-terminal

windows-terminal 简单设置：字体、启动目录。

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{
    "guid": "{c6eaf9f4-32a7-5fdc-b5cf-066e8a4b1e40}",
    "hidden": false,
    "fontFace": "Jetbrains Mono",
    "fontSize": 11,
    "name": "Ubuntu-18.04",
    "source": "Windows.Terminal.Wsl",
    "startingDirectory": "//wsl$/Ubuntu-18.04//home/bo",

}
  1. 设置源，更新（可选）

打开配置文件： sudo nano /etc/apt/sources.list, 替换成以下内容：

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# 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse

# 预发布软件源，不建议启用
# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse

ref： https://mirrors.tuna.tsinghua.edu.cn/help/ubuntu/

更新：sudo apt update

升级：sudo apt upgrade

  1. 安装 ZSH、oh-my-zsh（可选）

参考 zsh & oh-my-zsh 安装配置

二、安装 ROS-melodic

ref： http://wiki.ros.org/melodic/Installation/Ubuntu

  1. 设置源，URL: http://mirrors.tuna.tsinghua.edu.cn/ros/

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    sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

  2. 设置 keys

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

  3. 安装

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    sudo apt update

    # 建议完全安装 (Recommended) 
    # 含：ROS, rqt, rviz, robot-generic libraries, 
    #    2D/3D simulators and 2D/3D perception

    sudo apt install ros-melodic-desktop-full

  4. 设置环境变量

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

  5. 安装必要的依赖

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    sudo apt install python-rosdep
    sudo rosdep init
    rosdep update

    sudo rosdep init 需要从 raw.githubusercontent.com 下载文件。

    如果报错，可以试下修改 hosts：

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    # 打开hosts文件
    sudo nano /etc/hosts
    # 在文件末尾添加
    151.101.84.133  raw.githubusercontent.com

  6. 测试一下

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roscore

# 会出现几行 log：
# started roslaunch server http://DESKTOP-FL776UK:56357/
# ros_comm version 1.14.10
#
#
# SUMMARY
# ========
#
# PARAMETERS
#  * /rosdistro: melodic
#  * /rosversion: 1.14.10
# ...
# started core service [/rosout]
#
  1. 测试一下小乌龟

  • 先在 win10 下安装 X Server：scoop install vcxsrv.

  • 然后依次在 Ubuntu18.04下打开三个 terminal：

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    # terminal - 1
    roscore

    # terminal - 2
    rosrun turtlesim turtlesim_node

    # terminal - 3
    rosrun turtlesim turtle_teleop_key

windows terminal 分屏快捷键：

快捷键 功能
ctrl + shift + w closePane
alt + shift + - splitPane: horizontal
alt + shift + + splitPane: vertical