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+# ros1环境配置-Ubuntu20.04
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+
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+1. 终端输入**wget http://fishros.com/install -O fishros && . fishros**
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+
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+2. 更换系统源[5] -> 更换并清理第三方源[2] -> 添加ros/ros2源[1]
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+
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+3. 终端输入**wget http://fishros.com/install -O fishros && . fishros**
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+
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+4. 一键安装[1] –> 不更换源安装[] –> ros-noetic
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+
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+5. 终端输入**wget http://fishros.com/install -O fishros && . fishros**
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+
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+6. 安装rosdep[3]
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+
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+7. 终端输入**wget http://fishros.com/install -O fishros && . fishros**
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+
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+8. 一键配置环境[4]
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+
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+# Socket-can驱动环境配置
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+
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+1. can_driver文件夹下修改start.sh脚本文件，baudrat=7改为baudrat=77。前一个数字为can0接口的波特率，后为can1。修改为所需波特率，目前为500K
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+2. 进入bootexec文件夹，修改run_emucd和上一步相同
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+3. 返回can_driver文件夹下，使用命令
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+```
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+sudo make clean
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+make
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+sh start.sh
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+cd bootexec
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+sh add_2_boot.sh
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+./run_emucd
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+```
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+4. 重启
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+
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+5. sudo apt install can-utils安装can应用环境
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