【未解决乌龟问题】测试ROS是否安装成功

￡神魔★判官ぃ 2023-10-11 20:27 59阅读 0赞

前提说明：虚拟机、ubuntu-18.04.1

**1、操作流程：**

**1）参考教程链接1，**第一步输入roscore指令查看ROS的版本、节点、端号等内容时出现“Command 'roscore' not found, but can be installed with: sudo apt install python-roslaunch”，按提示输入指令“sudo apt install python-roslaunch”，此时出现““Could not get lock /var/lib/dpkg/lock - open (11: Resource temporarily unavailable)E: Unable to lock the administration directory (/var/lib/dpkg/), is another process using it?”的问题”

![913bab4aeb844506a738637c230faa76.png][]

**2)参考教程链接2和3**，把apt进程全部杀死，再次输入“roscore”指令，按提示输入指令“sudo apt install python-roslaunch”即可。操作过程如下图所示：

![ef585a0acf214f85925dac466435e689.png][]

![e0b85c11e327408ea63941e90ea427db.png][]

![a06ea5b1002246228b58b560e4c0265e.png][] 下图表示正在下载中

![b2efdb91377146c4bbfada4db5419114.png][]此时再输入roscore指令，可以查到版本等信息

![a737456eb6834ea587a4e3a11ef43f86.png][]

**细节展示：**

通过下面的命令来生成所有含有 apt 的进程列表：

ps -A | grep apt

通过下面的命令来杀死进程：

sudo kill -9 进程ID号

可以查看系统内存在的内核版本列表：

sudo dpkg --get-selections |grep linux
    sudo dpkg --get-selections

查看当前Ubuntu系统使用的内核版本：

uname -a

**3）根据教程链接1**，再打开一个新的终端（Termial），输入指令“rosrun turtlesim turtlesim\_node”，看看是否能弹出一个小乌龟窗口，但提示not found：

![7f8f45ca4adb4a51895acedb755cb7c1.png][]

按照提示输入指令“sudo apt install robash"后，再次输入指令“rosrun turtlesim turtlesim\_node”，但是显示Command not found

![671431fec2c7428090f01fa93155942f.png][]

**4)参考教程链接6，rosrun（运行对应节点）**

用法：rosrun + 结点，例如： rosrun turtlesim。其中，turtlesim是ros安装好后带的学习用的功能包，输入完代码以后双击tab键可以显示出其所有节点。按理说输入 rosrun turtlesim turtlesim\_node即可显示小乌龟仿真器页面。

但是 rosrun turtlesim双击Tab键后，按照提示输入指令sudo apt install rospack-tools。

![235a46b2706b4bacb9e1c13ea5cf5f63.png][]

安装完毕后，再次双击或回车 rosrun turtlesim，均没有反应。

5）

**2、参考链接**

1）测试ROS是否安装成功[https://blog.csdn.net/weixin\_45532870/article/details/125621819][https_blog.csdn.net_weixin_45532870_article_details_125621819]

2）解决 “Could not get lock /var/lib/dpkg/lock - open (11: Resource temporarily unavailable)E: Unable to lock the administration directory (/var/lib/dpkg/), is another process using it?”的问题[https://blog.csdn.net/w5688414/article/details/82254845][https_blog.csdn.net_w5688414_article_details_82254845]

3）[技术|修复 Ubuntu 中“Unable to lock the administration directory (/var/lib/dpkg/)”的 (linux.cn)][Ubuntu _Unable to lock the administration directory _var_lib_dpkg_ _linux.cn]

4）虚拟机VMware安装教程[https://blog.csdn.net/m0\_55879913/article/details/127298691][https_blog.csdn.net_m0_55879913_article_details_127298691]

5）在虚拟机中安装ubuntu-18.04.1-desktop-amd64[https://mp.weixin.qq.com/s/vuaPF25PUVywgAA0tEvr8w][https_mp.weixin.qq.com_s_vuaPF25PUVywgAA0tEvr8w]

6）ROS命令行工具使用讲解[https://blog.csdn.net/qq\_52533790/article/details/121461938][https_blog.csdn.net_qq_52533790_article_details_121461938]

7）解决roslaunch按Tab键没反应问题[https://blog.csdn.net/weixin\_43262513/article/details/88061692][https_blog.csdn.net_weixin_43262513_article_details_88061692]

[913bab4aeb844506a738637c230faa76.png]: https://img-blog.csdnimg.cn/913bab4aeb844506a738637c230faa76.png
[ef585a0acf214f85925dac466435e689.png]: https://img-blog.csdnimg.cn/ef585a0acf214f85925dac466435e689.png
[e0b85c11e327408ea63941e90ea427db.png]: https://img-blog.csdnimg.cn/e0b85c11e327408ea63941e90ea427db.png
[a06ea5b1002246228b58b560e4c0265e.png]: https://img-blog.csdnimg.cn/a06ea5b1002246228b58b560e4c0265e.png
[b2efdb91377146c4bbfada4db5419114.png]: https://img-blog.csdnimg.cn/b2efdb91377146c4bbfada4db5419114.png
[a737456eb6834ea587a4e3a11ef43f86.png]: https://img-blog.csdnimg.cn/a737456eb6834ea587a4e3a11ef43f86.png
[7f8f45ca4adb4a51895acedb755cb7c1.png]: https://img-blog.csdnimg.cn/7f8f45ca4adb4a51895acedb755cb7c1.png
[671431fec2c7428090f01fa93155942f.png]: https://img-blog.csdnimg.cn/671431fec2c7428090f01fa93155942f.png
[235a46b2706b4bacb9e1c13ea5cf5f63.png]: https://img-blog.csdnimg.cn/235a46b2706b4bacb9e1c13ea5cf5f63.png
[https_blog.csdn.net_weixin_45532870_article_details_125621819]: https://blog.csdn.net/weixin_45532870/article/details/125621819
[https_blog.csdn.net_w5688414_article_details_82254845]: https://blog.csdn.net/w5688414/article/details/82254845
[Ubuntu _Unable to lock the administration directory _var_lib_dpkg_ _linux.cn]: https://linux.cn/article-8040-1.html
[https_blog.csdn.net_m0_55879913_article_details_127298691]: https://blog.csdn.net/m0_55879913/article/details/127298691
[https_mp.weixin.qq.com_s_vuaPF25PUVywgAA0tEvr8w]: https://mp.weixin.qq.com/s/vuaPF25PUVywgAA0tEvr8w
[https_blog.csdn.net_qq_52533790_article_details_121461938]: https://blog.csdn.net/qq_52533790/article/details/121461938
[https_blog.csdn.net_weixin_43262513_article_details_88061692]: https://blog.csdn.net/weixin_43262513/article/details/88061692