ROS（Robot Operating System）是一個用于機器人軟件開發(fā)的開源框架，在VPS（Virtual Private Server）上預裝ROS可以幫助開發(fā)者快速構建機器人開發(fā)環(huán)境，下面是一份詳細的ROS VPS預裝指南：

1、選擇合適的VPS提供商

比較不同VPS提供商的價格、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實例

登錄到VPS提供商的控制臺，選擇創(chuàng)建新的VPS實例。

根據(jù)需求選擇操作系統(tǒng)和硬件配置。

設置SSH密鑰以便于遠程訪問。

3、連接到VPS

使用SSH客戶端連接到VPS實例。

輸入用戶名和密碼進行身份驗證。

4、更新系統(tǒng)軟件包

運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

運行以下命令安裝ROS所需的依賴項：

“`

sudo aptget install pythonrosdep pythonrosinstall pythonwstool buildessential

“`

6、初始化ROS軟件包管理器

運行以下命令初始化ROS軟件包管理器：

“`

sudo rosdep init

rosdep update

“`

7、創(chuàng)建工作空間

運行以下命令創(chuàng)建一個新的工作空間：

“`

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)

“`