查看“模板:RK ROS”的源代码

===步骤1 - 配置Ubuntu/Debian软件库===
====选项1：通用源====
<syntaxhighlight lang="bash">
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
</syntaxhighlight>
===== 设置密钥 =====
<syntaxhighlight lang="bash">
sudo apt update
sudo apt install dirmngr
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
</syntaxhighlight>

====选项2：国内源====
=====USTC (China)=====
<syntaxhighlight lang="bash">
sudo sh -c 'echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
</syntaxhighlight>

===== 设置密钥 =====
<syntaxhighlight lang="bash">
sudo apt update
sudo apt install dirmngr
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
</syntaxhighlight>

===步骤2 - 安装===
<syntaxhighlight lang="bash">
sudo apt update
</syntaxhighlight>
ROS中有许多不同的库和工具。我们提供了四种默认配置来帮助入门，也可以单独安装ROS软件包。
====选项1：桌面完整安装:(推荐）====
包含了ROS，rqt，rviz，机器人通用库，2D / 3D模拟器，导航和2D / 3D感知：
<syntaxhighlight lang="bash">
sudo apt install ros-lunar-desktop-full
</syntaxhighlight>

====选项2：其他安装方式====
=====桌面安装=====
包含了ROS，rqt，rviz和机器人通用库:
<syntaxhighlight lang="bash">
sudo apt install ros-lunar-desktop
</syntaxhighlight>
=====ROS-Base：=====
包含了ROS包，构建和通信库。没有GUI工具:
<syntaxhighlight lang="bash">
sudo apt install ros-lunar-ros-base
</syntaxhighlight>

===步骤3 - 初始化rosdep===
在使用ROS之前，需要初始化rosdep。<br />
<syntaxhighlight lang="bash">
sudo rosdep init
rosdep update
</syntaxhighlight>
rosdep update如果执行报错请检查网络环境，是否可以正常和外网通讯，还有报错的话将DNS更改成8.8.8.8
[[File:ros-init.jpg|500px|ros-init]]

===步骤4 - 环境设置===
如果ROS环境变量在每次启动新shell时自动添加到bash会话中，则很方便：
<syntaxhighlight lang="bash">
echo "source /opt/ros/lunar/setup.bash" >> ~/.bashrc
source ~/.bashrc
</syntaxhighlight>
如果安装了多个ROS分发版，~/.bashrc只能为当前使用的版本提供setup.bash。<br />

===步骤5 - 运行DEMO===
先打开1个终端，输入以下命令：
<syntaxhighlight lang="bash">
roscore
rosrun turtlesim turtlesim_node
</syntaxhighlight>
再打开另一个终端，输入以下命令(可以通过键盘去控制小海龟)：
<syntaxhighlight lang="bash">
rosrun turtlesim turtle_teleop_key
</syntaxhighlight>
可以在终端发送一个topic消息去控制turtle的移动轨迹
<syntaxhighlight lang="bash">
rostopic pub -1 /turtle/cmd_vel geometry_msgs/Twist -- '[2.0,0.0,0.0]' '[0.0,0.0,1.8]'
</syntaxhighlight>
[[File:ros-demo.png|500px|ros-demo]]<br />