留个坑【安装ROS】
1、ROS环境配置
直接用神器 鱼香ROS一键安装：wget http://fishros.com/install -O fishros && . fishros
依次按照下图选择安装即可：
1、
2、
3、
4、安装完成，测试一下
5、详细安装过程看文末附件。
2、简单跑一下
1、ROS默认安装位置
2、查看当前使用工作空间
3、创建服务
mkdir -p catkin_ws/src
cd catkin_ws/src
catkin_create_pkg service_client_pkg roscpp std_msgs
mkdir srv
touch ServiceClientExMsg.srv
//ServiceClientExMsg.srv文件中写入如下语句
string name
---
bool in_class
bool boy
int32 age
string personality
//
编辑service_client_pkg 文件夹下的package.xml,添加如下语句
<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>
编辑service_client_pkg 文件夹下的CMakeLists.txt
找到以下4处代码，去掉注释并编辑
~/catkin_ws/src/目录的内容如下图：
cd
cd catkin_ws/
catkin_make
root@orangepizerolts:~/catkin_ws# catkin_make
Base path: /root/catkin_ws
Source space: /root/catkin_ws/src
Build space: /root/catkin_ws/build
Devel space: /root/catkin_ws/devel
Install space: /root/catkin_ws/install
####
#### Running command: "cmake /root/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/root/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/root/catkin_ws/install -G Unix Makefiles" in "/root/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /root/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /root/catkin_ws/devel;/opt/ros/melodic
-- This workspace overlays: /root/catkin_ws/devel;/opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2")
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /root/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17")
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.29
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 1 packages in topological order:
-- ~~ - service_client_pkg
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'service_client_pkg'
-- ==> add_subdirectory(service_client_pkg)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- service_client_pkg: 0 messages, 1 services
CMake Warning at /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:166 (message):
catkin_package() DEPENDS on 'system_lib' but neither
'system_lib_INCLUDE_DIRS' nor 'system_lib_LIBRARIES' is defined.
Call Stack (most recent call first):
/opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
service_client_pkg/CMakeLists.txt:105 (catkin_package)
-- Configuring done
-- Generating done
-- Build files have been written to: /root/catkin_ws/build
####
#### Running command: "make -j4 -l4" in "/root/catkin_ws/build"
####
Scanning dependencies of target _service_client_pkg_generate_messages_check_deps_ServiceClientExMsg
Scanning dependencies of target std_msgs_generate_messages_py
Scanning dependencies of target std_msgs_generate_messages_eus
Scanning dependencies of target std_msgs_generate_messages_lisp
[ 0%] Built target std_msgs_generate_messages_py
[ 0%] Built target std_msgs_generate_messages_eus
[ 0%] Built target std_msgs_generate_messages_lisp
Scanning dependencies of target std_msgs_generate_messages_nodejs
Scanning dependencies of target std_msgs_generate_messages_cpp
[ 0%] Built target std_msgs_generate_messages_nodejs
[ 0%] Built target std_msgs_generate_messages_cpp
[ 0%] Built target _service_client_pkg_generate_messages_check_deps_ServiceClientExMsg
Scanning dependencies of target service_client_pkg_generate_messages_py
Scanning dependencies of target service_client_pkg_generate_messages_lisp
Scanning dependencies of target service_client_pkg_generate_messages_eus
Scanning dependencies of target service_client_pkg_generate_messages_cpp
[ 57%] Generating EusLisp code from service_client_pkg/ServiceClientExMsg.srv
[ 57%] Generating Lisp code from service_client_pkg/ServiceClientExMsg.srv
[ 57%] Generating Python code from SRV service_client_pkg/ServiceClientExMsg
[ 57%] Generating C++ code from service_client_pkg/ServiceClientExMsg.srv
[ 57%] Built target service_client_pkg_generate_messages_lisp
Scanning dependencies of target service_client_pkg_generate_messages_nodejs
[ 85%] Generating Javascript code from service_client_pkg/ServiceClientExMsg.srv
[ 85%] Generating EusLisp manifest code for service_client_pkg
[ 85%] Built target service_client_pkg_generate_messages_nodejs
[100%] Generating Python srv __init__.py for service_client_pkg
[100%] Built target service_client_pkg_generate_messages_py
[100%] Built target service_client_pkg_generate_messages_cpp
[100%] Built target service_client_pkg_generate_messages_eus
Scanning dependencies of target service_client_pkg_generate_messages
[100%] Built target service_client_pkg_generate_messages
root@orangepizerolts:~/catkin_ws#
编译成功。
4、服务端
在service_client_pkg 文件夹下添加service_example_node.cpp
#include
#include
#include
#include
using namespace std;
bool infoinquiry (service_client_pkg::ServiceClientExMsgRequest& request,service_client_pkg::ServiceClientExMsgResponse& response)
{
ROS_INFO ("callback activated");
string input_name (request.name);
response.in_class=false;
if (input_name.compare ("Tom") == 0)
{
ROS_INFO ("Student infomation about Tom" );
response.in_class=true;
response.boy=true;
response.age=20;
response.personality="outgoing";
}
if(input_name.compare("Mary") == 0)
{
ROS_INFO ("Student infomation about Mary");
response.in_class=true;
response.boy=false; response.age=21;
response.personality="introverted";
}
return true;
}
int main (int argc,char ** argv)
{
ros::init (argc,argv,"service_example_node");
ros::NodeHandle n;
ros::ServiceServer service = n.advertiseService("info_inquiry_byname",infoinquiry);
ROS_INFO ("Ready to inquiry names." );
ros::spin();
return 0;
}
//在service_client_pkg 文件夹下CMakelist.txt最后加入以下代码
add_executable (service_example_node src/service_example_node.cpp)
add_dependencies (service_example_node ${${PROJECT_NAME}_EXPORTED_TARGETS}
${catkin_EXPORTED_TARGETS})
target_link_libraries (service_example_node ${catkin_LIBRARIES})
cd
cd catkin_ws/
catkin_make
编译成功如下：
1终端运行：roscore
2终端运行：rosrun service_client_pkg service_example_node
3终端运行：rosservice call info_inquiry_byname 'Tom'
有如下打印说明成功的给这个service_example_node节点配置消息类型
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/
附件：ROS安装过程如下：
root@orangepizerolts:~# wget http://fishros.com/install -O fishros && . fishros
Resolving fishros.com (fishros.com)... 139.9.131.171
Connecting to fishros.com (fishros.com)|139.9.131.171|:80... connected.
HTTP request sent, awaiting response... 301 Moved Permanently
Location: http://fishros.com/install/ [following]
Reusing existing connection to fishros.com:80.
HTTP request sent, awaiting response... 200 OK
Length: 582 [application/octet-stream]
Saving to: ‘fishros’
fishros 100%[===========================================>] 582
2023-10-04 10:45:18 (9.99 MB/s) - ‘fishros’ saved [582/582]
Reading package lists... Done
Building dependency tree
Reading state information... Done
python3-yaml is already the newest version (3.12-1build2).
python3-distro is already the newest version (1.0.1-2).
0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.
Reading package lists... Done
Building dependency tree
Reading state information... Done
sudo is already the newest version (1.8.21p2-3ubuntu1.6).
0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.
Resolving fishros.com (fishros.com)... 139.9.131.171
Connecting to fishros.com (fishros.com)|139.9.131.171|:80... connected.
HTTP request sent, awaiting response... 200 OK
Length: 44694 (44K) [application/octet-stream]
Saving to: ‘/tmp/fishinstall/tools/base.py’
/tmp/fishinstall/tools/base 100%[===========================================>] 43.65K
2023-10-04 10:45:28 (634 KB/s) - ‘/tmp/fishinstall/tools/base.py’ saved [44694/44694]
Run CMD Task:[dpkg
[-]Result:success
Run CMD Task:[wget https://fishros.org.cn/forum/topic/1733 -O /tmp/t1733 -q && rm -rf /tmp/t1733]
[-]Result:success
基础检查通过...
===============================================================================
======欢迎使用一键安装工具，人生苦短，三省吾身，省时省力省心!=======
======一键安装已开源，请放心使用：https://github.com/fishros/install =======
===============================================================================
.-~~~~~~~~~-._ _.-~~~~~~~~~-.
__.' ~. .~ `.__
.'// 开卷有益 \./ 书山有路 \ `.
.'// 可以多看看小鱼的文章 | 关注公众号鱼香ROS \ `.
.'// .-~"~~~~-._ | _,-~~~~"~-. \`.
.'//.-" `-. | .-' "-.\`.
.'//______.============-.. \ | / ..-============.______\`.
.'______________________________\|/______________________________`
RUN Choose Task:[请输入括号内的数字]
ROS相关:
[1]:一键安装(推荐):ROS(支持ROS/ROS2,树莓派Jetson)
[4]:一键配置:ROS环境(快速更新ROS环境设置,自动生成环境选择)
[3]:一键安装:rosdep(小鱼的rosdepc,又快又好用)
[9]:一键安装:Cartographer(内测版易失败)
[11]:一键安装:ROS Docker版(支持所有版本ROS/ROS2)
常用软件:
[2]:一键安装:github桌面版(小鱼常用的github客户端)
[6]:一键安装:NodeJS环境
[7]:一键安装:VsCode开发工具
[8]:一键安装:Docker
[10]:一键安装:微信(可以在Linux上使用的微信)
[12]:一键安装:PlateformIO MicroROS开发环境(支持Fishbot)
[14]:一键安装:科学上网代理工具
[15]:一键安装：QQ for Linux
配置工具:
[5]:一键配置:系统源(更换系统源,支持全版本Ubuntu系统)
[13]:一键配置:python国内源
[0]:quit
请输入[]内的数字以选择:1
Resolving fishros.com (fishros.com)... 139.9.131.171
Connecting to fishros.com (fishros.com)|139.9.131.171|:80... connected.
HTTP request sent, awaiting response... 200 OK
Length: 19468 (19K) [application/octet-stream]
Saving to: ‘/tmp/fishinstall/tools/tool_install_ros.py’
/tmp/fishinstall/tools/tool 100%[===========================================>] 19.01K
2023-10-04 10:45:34 (622 KB/s) - ‘/tmp/fishinstall/tools/tool_install_ros.py’ saved [19468/19468]
Resolving fishros.com (fishros.com)... 139.9.131.171
Connecting to fishros.com (fishros.com)|139.9.131.171|:80... connected.
HTTP request sent, awaiting response... 200 OK
Length: 2457 (2.4K) [application/octet-stream]
Saving to: ‘/tmp/fishinstall/tools/tool_config_rosenv.py’
/tmp/fishinstall/tools/tool 100%[===========================================>] 2.40K
2023-10-04 10:45:34 (34.7 MB/s) - ‘/tmp/fishinstall/tools/tool_config_rosenv.py’ saved [2457/2457]
Resolving fishros.com (fishros.com)... 139.9.131.171
Connecting to fishros.com (fishros.com)|139.9.131.171|:80... connected.
HTTP request sent, awaiting response... 200 OK
Length: 7708 (7.5K) [application/octet-stream]
Saving to: ‘/tmp/fishinstall/tools/tool_config_system_source.py’
/tmp/fishinstall/tools/tool 100%[===========================================>] 7.53K
2023-10-04 10:45:35 (51.3 MB/s) - ‘/tmp/fishinstall/tools/tool_config_system_source.py’ saved [7708/7708]
欢迎使用一键安装ROS和ROS2,支持树莓派Jetson,本工具由作者小鱼提供
欢迎使用ROS开箱子工具，本工具由[鱼香ROS]小鱼贡献..
小鱼:检测当前系统ubuntu18.04:bionic 支持一键安装ROS
=========接下来这一步很很很很重要，如果不知道怎么选请选择1========
RUN Choose Task:[请输入括号内的数字]
新手或首次安装一定要一定要一定要换源并清理三方源，换源!!!系统默认国外源容易失败!!
[1]:更换系统源再继续安装
[2]:不更换继续安装
[0]:quit
请输入[]内的数字以选择:1
欢迎使用一键换源工具，本工具由[鱼香ROS]小鱼贡献..
RUN Choose Task:[请输入括号内的数字]
请选择换源方式,如果不知道选什么请选2
[1]:仅更换系统源
[2]:更换系统源并清理第三方源
[0]:quit
请输入[]内的数字以选择:2
Run CMD Task:[sudo rm -rf /etc/apt/sources.list]
[-]Result:success
删除一个资源文件
Run CMD Task:[sudo rm -rf /etc/apt/sources.list.d]
[-]Result:success
Run CMD Task:[sudo mkdir -p /etc/apt/sources.list.d]
[-]Result:success
Run CMD Task:[dpkg
[-]Result:success
检测到当前系统架构为[arm64:bionic],正在为你更换对应源..
创建文件:/etc/apt/sources.list
替换完成，尝试第一次更新....
Run CMD Task:[sudo apt update]
[-]Result:success -ports bionic-security/multiverse armhf Packages [2,753 B]
搞定了,不信你看,累死宝宝了，还不快去给小鱼点个赞~
['Get:1 https://mirrors.ustc.edu.cn/ubuntu-ports bionic InRelease [242 kB]', 'Get:2 https://mirrors.ustc.edu.cn/ubuntu-ports bionic-updates InRelease [88.7 kB]', 'Get:3 https://mirrors.ustc.edu.cn/ubuntu-ports bionic-backports InRelease [83.3 kB]', 'Get:4 https://mirrors.ustc.edu.cn/ubuntu-ports bionic-security InRelease [88.7 kB]', 'Get:5 https://mirrors.ustc.edu.cn/ubuntu-ports bionic/main armhf Packages [1,277 kB]', 'Get:6 https://mirrors.ustc.edu.cn/ubuntu-ports bionic/restricted armhf Packages [12.5 kB]', 'Get:7 https://mirrors.ustc.edu.cn/ubuntu-ports bionic/universe armhf Packages [11.0 MB]', 'Get:8 https://mirrors.ustc.edu.cn/ubuntu-ports bionic/multiverse armhf Packages [157 kB]', 'Get:9 https://mirrors.ustc.edu.cn/ubuntu-ports bionic-updates/main armhf Packages [1,797 kB]', 'Get:10 https://mirrors.ustc.edu.cn/ubuntu-ports bionic-updates/restricted armhf Packages [18.7 kB]', 'Get:11 https://mirrors.ustc.edu.cn/ubuntu-ports bionic-updates/universe armhf Packages [2,047 kB]', 'Get:12 https://mirrors.ustc.edu.cn/ubuntu-ports bionic-updates/multiverse armhf Packages [6,833 B]', 'Get:13 https://mirrors.ustc.edu.cn/ubuntu-ports bionic-backports/main armhf Packages [63.9 kB]', 'Get:14 https://mirrors.ustc.edu.cn/ubuntu-ports bionic-backports/universe armhf Packages [20.1 kB]', 'Get:15 https://mirrors.ustc.edu.cn/ubuntu-ports bionic-security/main armhf Packages [1,445 kB]', 'Get:16 https://mirrors.ustc.edu.cn/ubuntu-ports bionic-security/restricted armhf Packages [11.8 kB]', 'Get:17 https://mirrors.ustc.edu.cn/ubuntu-ports bionic-security/universe armhf Packages [1,365 kB]', 'Get:18 https://mirrors.ustc.edu.cn/ubuntu-ports bionic-security/multiverse armhf Packages [2,753 B]', 'Fetched 19.7 MB in 16s (1,252 kB/s)', 'Reading package lists...', 'Building dependency tree...', 'Reading state information...', 'All packages are up to date.', '']
镜像修复完成.....
Run CMD Task:[sudo apt update]
[-]Result:success ports bionic-security InReleasee
Run CMD Task:[sudo apt-cache search curl ]
[-]Result:success t for HTTPGI-Lang interface librariesling librariesr)d line
Run CMD Task:[sudo apt install curl -y]
[-]Result:success e and 0 not upgraded.
Run CMD Task:[sudo apt-cache search gnupg2 ]
[-]Result:success eplacement (dummy transitional package)
Run CMD Task:[sudo apt install gnupg2 -y]
[-]Result:success e and 0 not upgraded.
Run CMD Task:[curl -s https://gitee.com/ohhuo/rosdistro/raw/master/ros.asc | sudo apt-key add -]
[-]Result:success
Run CMD Task:[dpkg
[-]Result:success
根据您的系统，为您推荐安装源为['http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/', 'http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu/']
创建文件:/etc/apt/sources.list.d/ros-fish.list
Run CMD Task:[sudo apt update]
[-]Result:success n/ros/ubuntu bionic/main arm64 Packages [793 kB]
Run CMD Task:[sudo apt-cache search ros-base ]
[\]ros-melodic-ros-base - A metapackage which extends ros_core and includes other basic non-robot tools like act[-]Result:success luginlib.
换源后更新失败，第二次开始切换源，尝试更换ROS2源为华为源！
根据您的系统，为您推荐安装源为['https://repo.huaweicloud.com/ros/ubuntu/', 'https://repo.huaweicloud.com/ros2/ubuntu/']
Run CMD Task:[sudo rm -rf /etc/apt/sources.list.d/ros-fish.list]
[-]Result:success
创建文件:/etc/apt/sources.list.d/ros-fish.list
Run CMD Task:[sudo apt update]
[-]Result:success buntu bionic/main arm64 Packages [793 kB]
Run CMD Task:[sudo apt-cache search ros-base ]
[\]ros-melodic-ros-base - A metapackage which extends ros_core and includes other basic non-robot tools like act[-]Result:success luginlib.
换源后更新失败，第三次开始切换源，尝试更换ROS2源为ROS2官方源！
根据您的系统，为您推荐安装源为['http://packages.ros.org/ros/ubuntu/', 'http://packages.ros.org/ros2/ubuntu/']
Run CMD Task:[sudo rm -rf /etc/apt/sources.list.d/ros-fish.list]
[-]Result:success
创建文件:/etc/apt/sources.list.d/ros-fish.list
Run CMD Task:[sudo apt update]
[-]Result:success bionic/main arm64 Packages [660 kB]
Run CMD Task:[sudo apt-cache search ros-base ]
[\]ros-melodic-ros-base - A metapackage which extends ros_core and includes other basic non-robot tools like act[-]Result:success luginlib.
换源后更新失败，第四次开始切换源，尝试使用https-ROS2官方源～！
根据您的系统，为您推荐安装源为['https://packages.ros.org/ros/ubuntu/', 'https://packages.ros.org/ros2/ubuntu/']
Run CMD Task:[sudo rm -rf /etc/apt/sources.list.d/ros-fish.list]
[-]Result:success
创建文件:/etc/apt/sources.list.d/ros-fish.list
Run CMD Task:[sudo apt update]
[/] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match[|] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match[-]Result:code:100 the certificate verification. [IP: 64.50.233.100 443]
检测到发生证书校验错误['\n', 'WARNING: apt does not have a stable CLI interface. Use with caution in scripts.\n', '\n', "E: The repository 'https://packages.ros.org/ros/ubuntu bionic Release' no longer has a Release file.\n", "E: The repository 'https://packages.ros.org/ros2/ubuntu bionic Release' no longer has a Release file.\n"]，自动取消https校验，如有需要请手动删除：rm /etc/apt/apt.conf.d/99verify-peer.conf
Run CMD Task:[touch /etc/apt/apt.conf.d/99verify-peer.conf]
[-]Result:success
Run CMD Task:[echo "Acquire { https::Verify-Peer false }" > /etc/apt/apt.conf.d/99verify-peer.conf]
[-]Result:success
Run CMD Task:[sudo apt-key adv
[\]Executing: /tmp/apt-key-gpghome.G19SrIuCFw/gpg.1.sh
Run CMD Task:[sudo apt update]
[-]Result:success u bionic InReleaseity InReleasee
Run CMD Task:[sudo apt-cache search ros-base ]
[\]ros-melodic-ros-base - A metapackage which extends ros_core and includes other basic non-robot tools like act[-]Result:success luginlib.
Run CMD Task:[sudo apt update]
[-]Result:success u bionic InReleaseity InReleasee
Run CMD Task:[sudo apt-cache search ros-base ]
[\]ros-melodic-ros-base - A metapackage which extends ros_core and includes other basic non-robot tools like act[-]Result:success luginlib.
RUN Choose Task:[请输入括号内的数字]
请选择你要安装的ROS版本名称(请注意ROS1和ROS2区别):
[1]:melodic(ROS1)
[0]:quit
请输入[]内的数字以选择:1
RUN Choose Task:[请输入括号内的数字]
请选择安装的具体版本(如果不知道怎么选,请选1桌面版):
[1]:melodic(ROS1)桌面版
[2]:melodic(ROS1)基础版(小)
[0]:quit
请输入[]内的数字以选择:2
Run CMD Task:[sudo apt-cache search aptitude ]
[-]Result:success managementrminal-based package managerrr
Run CMD Task:[sudo apt install aptitude -y]
[-]Result:success e and 0 not upgraded.
Run CMD Task:[sudo apt-cache search aptitude ]
[-]Result:success managementrminal-based package managerrr
Run CMD Task:[sudo apt install aptitude -y]
[-]Result:success e and 0 not upgraded.
Run CMD Task:[sudo apt install ros-melodic-ros-base -y]
Reading package lists... Done
Building dependency tree
Reading state information... Done
ros-melodic-ros-base is already the newest version (1.4.1-0bionic.20230216.105921).
0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.
Run CMD Task:[sudo apt install ros-melodic-ros-base -y]
[-]Result:success e and 0 not upgraded.nic.20230216.105921).
Run CMD Task:[sudo apt-cache search python-catkin-tools ]
[-]Result:success for working with catkin.
Run CMD Task:[sudo apt install python-catkin-tools -y]
[/]Get:2 https://mirrors.ustc.edu.cn/ubuntu-ports bionic-updates/main armhf libjs-underscore all 1.8.3~dfsg-1ubu[|]Get:4 https://mirrors.ustc.edu.cn/ubuntu-ports bionic/main armhf python-concurrent.futures all 3.2.0-1 [34.2 [-]Result:success ....) ...) ...ll.deb ....b ...b ...ols all 0.6.1-1 [314 kB]B]9 kB]
Run CMD Task:[sudo apt-cache search python-rosdep ]
[-]Result:success nager abstraction tool for ROSPython 2)
Run CMD Task:[sudo apt install python-rosdep -y]
[-]Result:success e and 0 not upgraded.
Run CMD Task:[ls /opt/ros/melodic/setup.bash]
[-]Result:success
欢迎使用一键配置ROS开发环境,本工具由作者小鱼提供
Run CMD Task:[ls /opt/ros/*/setup.bash]
[-]Result:success
Run CMD Task:[ls /home/*/.bashrc]
[-]Result:code:2
Run CMD Task:[ls /root/.bashrc]
[-]Result:success
检测到系统有1个ROS环境,已为你生成启动选择,修改~/.bashrc可关闭
恭喜你，安装成功了，再附赠你机器人学习宝藏网站：鱼香社区:https://fishros.org.cn/forum
Run CMD Task:[ls /opt/ros/melodic/setup.bash]
[-]Result:success
小鱼，黄黄的提示：您安装的是ROS1，可以打开一个新的终端输入roscore测试！
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