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ROS（Robot Operating System）是一個(gè)用于機(jī)器人軟件開發(fā)的開源框架，在VPS（Virtual Private Server）上預(yù)裝ROS可以幫助開發(fā)者快速構(gòu)建機(jī)器人開發(fā)環(huán)境，下面是一份詳細(xì)的ROS VPS預(yù)裝指南：
1、選擇合適的VPS提供商
比較不同VPS提供商的價(jià)格、性能和可靠性。
確保VPS提供商支持ROS所需的操作系統(tǒng)和軟件版本。
2、創(chuàng)建VPS實(shí)例
登錄到VPS提供商的控制臺，選擇創(chuàng)建新的VPS實(shí)例。
根據(jù)需求選擇操作系統(tǒng)和硬件配置。
設(shè)置SSH密鑰以便于遠(yuǎn)程訪問。
3、連接到VPS
使用SSH客戶端連接到VPS實(shí)例。
輸入用戶名和密碼進(jìn)行身份驗(yàn)證。
4、更新系統(tǒng)軟件包
運(yùn)行以下命令更新系統(tǒng)軟件包：
“`
sudo aptget update
sudo aptget upgrade
“`
5、安裝依賴項(xiàng)
運(yùn)行以下命令安裝ROS所需的依賴項(xiàng)：
“`
sudo aptget install pythonrosdep pythonrosinstall pythonwstool buildessential
“`
6、初始化ROS軟件包管理器
運(yùn)行以下命令初始化ROS軟件包管理器：
“`
sudo rosdep init
rosdep update
“`
7、創(chuàng)建工作空間
運(yùn)行以下命令創(chuàng)建一個(gè)新的工作空間：
“`
mkdir p ~/catkin_ws/src
cd ~/catkin_ws/src
“`
8、下載ROS核心軟件包
運(yùn)行以下命令下載ROS核心軟件包：
“`
catkin_init_workspace src devel cmakeargs DCMAKE_BUILD_TYPE=Release DCATKIN_BLACKLISTED_PACKAGES="" DCATKIN_ENABLE_TESTING=False DCMAKE_INSTALL_PREFIX=/opt/ros/melodic DCMAKE_PREFIX_PATH=/opt/ros/melodic DCATKIN_DEPENDS="roscpp;rospy;std_msgs;geometry_msgs;sensor_msgs;nav_msgs;tf;message_runtime" DCATKIN_EXPORT_PACKAGE_BINARYPROTOCOL=ON G "Unix Makefiles" build forcecmake pkgconfig /opt/ros/melodic/lib/pkgconfig includedirs /opt/ros/melodic/include DCATKIN_TOPLEVEL_TAG=devel j2 l2 lgomp lpthread lrt ldl lm lstdc++ lcurl Wnounusedcommandlineargument Wnodeprecateddeclarations Wnoreturntype Wnounusedlocaltypedefs Wnosigncompare Wnounusedparameter Wnounusedvariable Wnounusedbutsetvariable Wnostrictoverflow Wnouninitialized Wnounknownwarningoption Q unix make cmake_modules linking)
“`
9、編譯工作空間
運(yùn)行以下命令編譯工作空間：
“`
catkin_make pkg $PWD/.. output $PWD/build cmakeargs DCMAKE_BUILD_TYPE=Release DCATKIN_BLACKLISTED_PACKAGES="" DCATKIN_ENABLE_TESTING=False DCMAKE_INSTALL_PREFIX=/opt/ros/melodic DCMAKE_PREFIX_PATH=/opt/ros/melodic DCATKIN_DEPENDS="roscpp;rospy;std_msgs;geometry_msgs;sensor_msgs;nav_msgs;tf;message_runtime" DCATKIN_EXPORT_PACKAGE_BINARYPROTOCOL=ON G "Unix Makefiles" build forcecmake pkgconfig /opt/ros/melodic/lib/pkgconfig includedirs /opt/ros/melodic/include DCATKIN_TOPLEVEL_TAG=devel j2 l2 lgomp lpthread lrt ldl lm lstdc++ lcurl Wnounusedcommandlineargument Wnodeprecateddeclarations Wnoreturntype Wnounusedlocaltypedefs Wnosigncompare Wnounusedparameter Wnounusedvariable Wnounusedbutsetvariable Wnostrictoverflow Wnouninitialized Wnounknownwarningoption Q unix make cmake_modules linking)
“`
10、安裝ROS核心軟件包
運(yùn)行以下命令安裝ROS核心軟件包：
“`
sudo catkin_make install prefix=/opt/ros/melodic target=$PWD/build cmakeargs DCMAKE_BUILD_TYPE=Release DCATKIN_BLACKLISTED_PACKAGES="" DCATKIN_ENABLE_TESTING=False DCMAKE_INSTALL_PREFIX=/opt/ros/melodic DCMAKE_PREFIX_PATH=/opt/ros/melodic DCATKIN_DEPENDS="roscpp;rospy;std_msgs;geometry_msgs;sensor_msgs;nav_msgs;tf;message_runtime" DCATKIN_EXPORT_PACKAGE_BINARYPROTOCOL=ON G "Unix Makefiles" build forcecmake pkgconfig /opt/ros/melodic/lib/pkgconfig includedirs /opt/ros/melodic/include DCATKIN_TOPLEVEL_TAG=devel j2 l2 lgomp lpthread lrt ldl lm lstdc++ lcurl install useninja install)
“`
標(biāo)題名稱：ROSVPS預(yù)裝指南：快速構(gòu)建機(jī)器人開發(fā)環(huán)境
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