ROS实践（1）-环境搭建

yangkai04@yangkai04-Inspiron-3650:~$ roscore

Traceback (most recent call last):

  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/__init__.py", line 257, in main

    write_pid_file(options.pid_fn, options.core, options.port)

  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/__init__.py", line 110, in write_pid_file

    with open(pid_fn, "w") as f:

IOError: [Errno 13] Permission denied: '/home/yangkai04/.ros/roscore-11311.pid'

yangkai04@yangkai04-Inspiron-3650:~/project/baidu/adu/perception$ sudo passwd root
Enter new UNIX password:
Retype new UNIX password:
passwd: password updated successfully
yangkai04@yangkai04-Inspiron-3650:~/project/baidu/adu/perception$ ls
autotest    build.log       COMAKE          obstacle       production
BCLOUD      build.sh        error.log       obstacle_mock  README.md
BCLOUD.cov  cmake           lib             onboard        tools
build       CMakeLists.txt  local_build.sh  output         traffic_light
yangkai04@yangkai04-Inspiron-3650:~/project/baidu/adu/perception$ su root
Password:
root@yangkai04-Inspiron-3650:/home/yangkai04/project/baidu/adu/perception# vim ~/.bashrc
添加：source /opt/ros/indigo/setup.bash

root@yangkai04-Inspiron-3650:~# cd ~/dev/rosbook/

root@yangkai04-Inspiron-3650:~/dev/rosbook# ls

root@yangkai04-Inspiron-3650:~/dev/rosbook# roscreate-pkg chapter2_tutorialsstd_msgs rospy roscpp

Created package directory /root/dev/rosbook/chapter2_tutorials

Created include directory /root/dev/rosbook/chapter2_tutorials/include/chapter2_tutorials

Created cpp source directory /root/dev/rosbook/chapter2_tutorials/src

Created package file /root/dev/rosbook/chapter2_tutorials/Makefile

Created package file /root/dev/rosbook/chapter2_tutorials/manifest.xml

Created package file /root/dev/rosbook/chapter2_tutorials/CMakeLists.txt

Created package file /root/dev/rosbook/chapter2_tutorials/mainpage.dox

Please edit chapter2_tutorials/manifest.xml and mainpage.dox to finish creating your package

root@yangkai04-Inspiron-3650:~/dev/rosbook# rospack find chapter2_tutorials
/root/dev/rosbook/chapter2_tutorials
root@yangkai04-Inspiron-3650:~/dev/rosbook# rospack depends chapter2_tutorials
[rospack] Error: the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'

root@yangkai04-Inspiron-3650:~/dev/rosbook# sudo rosdep init
ERROR: default sources list file already exists:
    /etc/ros/rosdep/sources.list.d/20-default.list
Please delete if you wish to re-initialize

root@yangkai04-Inspiron-3650:~/dev/rosbook# rosdep update
reading in sources list data from /etc/ros/rosdep/sources.list.d
Warning: running 'rosdep update' as root is not recommended.
  You should run 'sudo rosdep fix-permissions' and invoke 'rosdep update' again without sudo.
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index.yaml
Add distro "groovy"
Add distro "hydro"
Add distro "indigo"
Add distro "jade"
Add distro "kinetic"
updated cache in /root/.ros/rosdep/sources.cache

root@yangkai04-Inspiron-3650:~/dev/rosbook# rospack depends chapter2_tutorials
cpp_common
rostime
roscpp_traits
roscpp_serialization
catkin
genmsg
genpy
message_runtime
std_msgs
gencpp
genlisp
message_generation
rosbuild
rosconsole
rosgraph_msgs
xmlrpcpp
roscpp
rosgraph
rospack
roslib
rospy

root@yangkai04-Inspiron-3650:~/dev/rosbook#rosls chapter2_tutorials

CMakeLists.txt  include  mainpage.dox  Makefile  manifest.xml  src

root@yangkai04-Inspiron-3650:~/dev/rosbook#roscd chapter2_tutorials

root@yangkai04-Inspiron-3650:~/dev/rosbook/chapter2_tutorials# pwd

/root/dev/rosbook/chapter2_tutorials

root@yangkai04-Inspiron-3650:~/dev/rosbook/chapter2_tutorials#