Win10-WSL-Ubuntu18.04-ROS-melodi

一、WSL 安装 Ubuntu18.04

1. Win10 启用 WSL

管理员身份运行：

dism.exe /online /enable-feature /featurename:Microsoft-Windows-Subsystem-Linux /all /norestart

重启电脑。

2. 打开 Microsoft Store，安装 Ubuntu18.04

3. 启动 Ubuntu18.04，创建账号、密码

4. 安装 Windows Terminal（可选）

用 scoop 安装。

scoop install windows-terminal

windows-terminal 简单设置：字体、启动目录。

        {
            "guid": "{c6eaf9f4-32a7-5fdc-b5cf-066e8a4b1e40}",
            "hidden": false,
            "fontFace": "Jetbrains Mono",
            "fontSize": 11,
            "name": "Ubuntu-18.04",
            "source": "Windows.Terminal.Wsl",
            "startingDirectory": "//wsl$/Ubuntu-18.04//home/bo",

        }

5. 设置源，更新（可选）

打开配置文件： sudo nano /etc/apt/sources.list, 替换成以下内容：

# 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse

# 预发布软件源，不建议启用
# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse

ref： https://mirrors.tuna.tsinghua.edu.cn/help/ubuntu/

更新：sudo apt update

升级：sudo apt upgrade

6. 安装 ZSH、oh-my-zsh（可选）

-略-

二、安装 ROS-melodic

ref： http://wiki.ros.org/melodic/Installation/Ubuntu

1. 设置源，URL: http://mirrors.tuna.tsinghua.edu.cn/ros/

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

2. 设置 keys

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

3. 安装

sudo apt update

# 建议完全安装 (Recommended) 
# 含：ROS, rqt, rviz, robot-generic libraries, 
#    2D/3D simulators and 2D/3D perception

sudo apt install ros-melodic-desktop-full

4. 设置环境变量

# zsh
echo "source /opt/ros/melodic/setup.zsh" >> ~/.zshrc
source ~/.zshrc

5. 安装必要的依赖

sudo apt install python-rosdep
sudo rosdep init
rosdep update

sudo rosdep init 需要从 raw.githubusercontent.com 下载文件。

如果报错，可以试下修改 hosts：

``` powershell
# 打开hosts文件
sudo nano /etc/hosts
# 在文件末尾添加
151.101.84.133  raw.githubusercontent.com
```

6. 测试一下

roscore

# 会出现几行 log：
# started roslaunch server http://DESKTOP-FL776UK:56357/
# ros_comm version 1.14.10
#
#
# SUMMARY
# ========
#
# PARAMETERS
#  * /rosdistro: melodic
#  * /rosversion: 1.14.10
# ...
# started core service [/rosout]
# 

7. 测试一下小乌龟

• 先在 win10 下安装 X Server：scoop install vcxsrv.

• 然后依次在 Ubuntu18.04下打开三个 terminal：

# terminal - 1
roscore

# terminal - 2
rosrun turtlesim turtlesim_node

# terminal - 3
rosrun turtlesim turtle_teleop_key

windows terminal 分屏快捷键：

快捷键	功能
ctrl + shift + w	closePane
alt + shift + -	splitPane: horizontal
alt + shift + +	splitPane: vertical

ROS-turtlesim.png