7. [Ubuntu 16.04] ROS kinetic +ROSbridge 설치하기

[문제] 공식 문서를 따라했지만, 다운로드되는 서버의 연결이 되지 않아 다른 방법을 시도해야했다!

 

[해결] 

1. ros install & package install

$ sudo apt-get install -y chrony ntpdate

$ sudo ntpdate -q ntp.ubuntu.com

 

$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

$ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

$ sudo apt-get update && sudo apt-get upgrade -y

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

$ sudo apt-get install ros-kinetic-rqt*

$ sudo rosdep init

$ rosdep update

$ sudo apt-get install python-rosinstall

$ source /opt/ros/kinetic/setup.bash

 

 

2. 작업 폴더 생성 및 초기화

$ mkdir -p ~/catkin_ws/src

$ cd ~/catkin_ws/src

$ catkin_init_workspace

 

$ cd ~/catkin_ws/

$ catkin_make

$ source ~/catkin_ws/devel/setup.bash

 

3. test

$ roscore

$ rosrun turtlesim turtlesim_node

$ rosrun turtlesim turtle_teleop_key

$ rqt_graph

(잘돌아가면 성공!)

$ killall -9 roscore

$ killall -9 rosmaster

 

3. 설치 끝~~~ 룰루랄라

 

4. (option) rosbridge Install

$ sudo apt-get install ros-kinetic-rosbridge-server

$ source /opt/ros/kinetic/setup.bash

$ roslaunch rosbridge_server rosbridge_websocket.launch