Jetson xavier NX进行apt update及安装ROS出错记录

2023-05-16

Jetson xavier NX ROS

在Jetson xaiver NX上准备安装ROS，在执行apt-get update时出现如 "Failed to fetch https://mirrors.aliyun.com/ubuntu/dists/bionic-backports/main/binary-arm64/Packages 404 Not Found [IP: 58.216.13.241 443]"错误,，如下图：

robot@robot-desktop:~$ sudo apt-get update
[sudo] password for robot: 
Get:1 file:/var/cuda-repo-l4t-10-2-local  InRelease
Ign:1 file:/var/cuda-repo-l4t-10-2-local  InRelease
Get:2 file:/var/visionworks-repo  InRelease
Ign:2 file:/var/visionworks-repo  InRelease
Get:3 file:/var/visionworks-sfm-repo  InRelease
Ign:3 file:/var/visionworks-sfm-repo  InRelease
Get:4 file:/var/visionworks-tracking-repo  InRelease
Ign:4 file:/var/visionworks-tracking-repo  InRelease         
Get:5 file:/var/cuda-repo-l4t-10-2-local  Release [564 B]    
Get:6 file:/var/visionworks-repo  Release [2,001 B]                 
Get:7 file:/var/visionworks-sfm-repo  Release [2,005 B]                        
Get:5 file:/var/cuda-repo-l4t-10-2-local  Release [564 B]                      
Get:8 file:/var/visionworks-tracking-repo  Release [2,010 B]                   
Get:6 file:/var/visionworks-repo  Release [2,001 B]                            
Get:7 file:/var/visionworks-sfm-repo  Release [2,005 B]                        
Get:8 file:/var/visionworks-tracking-repo  Release [2,010 B]                   
Get:9 https://mirrors.aliyun.com/ubuntu bionic InRelease [242 kB]              
Get:11 https://mirrors.aliyun.com/ubuntu bionic-security InRelease [88.7 kB]   
Get:12 https://mirrors.aliyun.com/ubuntu bionic-updates InRelease [88.7 kB]    
Get:13 https://mirrors.aliyun.com/ubuntu bionic-proposed InRelease [242 kB]    
Get:15 https://mirrors.aliyun.com/ubuntu bionic-backports InRelease [74.6 kB]  
Hit:18 http://packages.ros.org/ros/ubuntu bionic InRelease                     
Hit:17 https://repo.download.nvidia.cn/jetson/common r32.6 InRelease     
Hit:20 https://repo.download.nvidia.cn/jetson/t194 r32.6 InRelease
Ign:21 https://mirrors.aliyun.com/ubuntu bionic/main arm64 Packages
Get:22 https://mirrors.aliyun.com/ubuntu bionic/main Translation-en [516 kB]
Get:23 https://mirrors.aliyun.com/ubuntu bionic/main arm64 DEP-11 Metadata [472 kB]
Get:24 https://mirrors.aliyun.com/ubuntu bionic/main DEP-11 48x48 Icons [118 kB]
Get:25 https://mirrors.aliyun.com/ubuntu bionic/main DEP-11 64x64 Icons [245 kB]
Get:26 https://mirrors.aliyun.com/ubuntu bionic/restricted arm64 Packages [664 B]
Get:26 https://mirrors.aliyun.com/ubuntu bionic/restricted arm64 Packages [664 B]
Get:26 https://mirrors.aliyun.com/ubuntu bionic/restricted arm64 Packages [664 B]
Get:26 https://mirrors.aliyun.com/ubuntu bionic/restricted arm64 Packages [664 B]
Get:26 https://mirrors.aliyun.com/ubuntu bionic/restricted arm64 Packages [664 B]
Get:26 https://mirrors.aliyun.com/ubuntu bionic/restricted arm64 Packages [664 B]
Get:26 https://mirrors.aliyun.com/ubuntu bionic/restricted arm64 Packages [664 B]
Get:26 https://mirrors.aliyun.com/ubuntu bionic/restricted arm64 Packages [664 B]
Get:26 https://mirrors.aliyun.com/ubuntu bionic/restricted arm64 Packages [664 B]
Get:26 https://mirrors.aliyun.com/ubuntu bionic/restricted arm64 Packages [664 B]
Get:26 https://mirrors.aliyun.com/ubuntu bionic/restricted arm64 Packages [664 B]
Get:26 https://mirrors.aliyun.com/ubuntu bionic/restricted arm64 Packages [664 B]
Get:26 https://mirrors.aliyun.com/ubuntu bionic/restricted arm64 Packages [664 B]
Get:26 https://mirrors.aliyun.com/ubuntu bionic/restricted arm64 Packages [664 B]
Get:26 https://mirrors.aliyun.com/ubuntu bionic/restricted arm64 Packages [664 B]
Get:26 https://mirrors.aliyun.com/ubuntu bionic/restricted arm64 Packages [664 B]
Get:26 https://mirrors.aliyun.com/ubuntu bionic/restricted arm64 Packages [664 B]
Get:26 https://mirrors.aliyun.com/ubuntu bionic/restricted arm64 Packages [664 B]
Get:26 https://mirrors.aliyun.com/ubuntu bionic/restricted arm64 Packages [664 B]
Get:26 https://mirrors.aliyun.com/ubuntu bionic/restricted arm64 Packages [664 B]
Get:26 https://mirrors.aliyun.com/ubuntu bionic/restricted arm64 Packages [664 B]
Ign:26 https://mirrors.aliyun.com/ubuntu bionic/restricted arm64 Packages
Get:48 https://mirrors.aliyun.com/ubuntu bionic/universe arm64 Packages [8,316 kB]
Get:48 https://mirrors.aliyun.com/ubuntu bionic/universe arm64 Packages [8,316 kB]
Get:48 https://mirrors.aliyun.com/ubuntu bionic/universe arm64 Packages [8,316 kB]
Get:48 https://mirrors.aliyun.com/ubuntu bionic/universe arm64 Packages [8,316 kB]
Get:48 https://mirrors.aliyun.com/ubuntu bionic/universe arm64 Packages [8,316 kB]
Ign:48 https://mirrors.aliyun.com/ubuntu bionic/universe arm64 Packages
Get:54 https://mirrors.aliyun.com/ubuntu bionic/multiverse arm64 Packages [126 kB]
Get:54 https://mirrors.aliyun.com/ubuntu bionic/multiverse arm64 Packages [126 kB]
Get:54 https://mirrors.aliyun.com/ubuntu bionic/multiverse arm64 Packages [126 kB]
Get:54 https://mirrors.aliyun.com/ubuntu bionic/multiverse arm64 Packages [126 kB]
Ign:54 https://mirrors.aliyun.com/ubuntu bionic/multiverse arm64 Packages    
Get:21 https://mirrors.aliyun.com/ubuntu bionic/main arm64 Packages [975 kB]
Get:21 https://mirrors.aliyun.com/ubuntu bionic/main arm64 Packages [975 kB] 
Get:21 https://mirrors.aliyun.com/ubuntu bionic/main arm64 Packages [975 kB] 
Ign:21 https://mirrors.aliyun.com/ubuntu bionic/main arm64 Packages          
Ign:62 https://mirrors.aliyun.com/ubuntu bionic-security/main arm64 Packages
Ign:63 https://mirrors.aliyun.com/ubuntu bionic-security/restricted arm64 Packages
Ign:64 https://mirrors.aliyun.com/ubuntu bionic-security/universe arm64 Packages
Ign:65 https://mirrors.aliyun.com/ubuntu bionic-security/multiverse arm64 Packages
Ign:66 https://mirrors.aliyun.com/ubuntu bionic-updates/main arm64 Packages    
Ign:67 https://mirrors.aliyun.com/ubuntu bionic-updates/restricted arm64 Packages
Get:68 https://mirrors.aliyun.com/ubuntu bionic-updates/universe arm64 Packages [1,561 kB]
Get:68 https://mirrors.aliyun.com/ubuntu bionic-updates/universe arm64 Packages [1,561 kB]
Get:68 https://mirrors.aliyun.com/ubuntu bionic-updates/universe arm64 Packages [1,561 kB]
Get:68 https://mirrors.aliyun.com/ubuntu bionic-updates/universe arm64 Packages [1,561 kB]
Ign:68 https://mirrors.aliyun.com/ubuntu bionic-updates/universe arm64 Packages
Get:73 https://mirrors.aliyun.com/ubuntu bionic-updates/multiverse arm64 Packages [4,908 B]
Ign:73 https://mirrors.aliyun.com/ubuntu bionic-updates/multiverse arm64 Packages
Get:26 https://mirrors.aliyun.com/ubuntu bionic/restricted arm64 Packages [664 B]
Get:26 https://mirrors.aliyun.com/ubuntu bionic/restricted arm64 Packages [664 B]
Get:26 https://mirrors.aliyun.com/ubuntu bionic/restricted arm64 Packages [664 B]
Get:26 https://mirrors.aliyun.com/ubuntu bionic/restricted arm64 Packages [664 B]
Get:26 https://mirrors.aliyun.com/ubuntu bionic/restricted arm64 Packages [664 B]
Get:26 https://mirrors.aliyun.com/ubuntu bionic/restricted arm64 Packages [664 B]
Get:26 https://mirrors.aliyun.com/ubuntu bionic/restricted arm64 Packages [664 B]
Ign:26 https://mirrors.aliyun.com/ubuntu bionic/restricted arm64 Packages
Ign:48 https://mirrors.aliyun.com/ubuntu bionic/universe arm64 Packages        
Ign:54 https://mirrors.aliyun.com/ubuntu bionic/multiverse arm64 Packages      
Get:21 https://mirrors.aliyun.com/ubuntu bionic/main arm64 Packages [1,285 kB] 
Ign:21 https://mirrors.aliyun.com/ubuntu bionic/main arm64 Packages            
Get:62 https://mirrors.aliyun.com/ubuntu bionic-security/main arm64 Packages [1,054 kB]
Get:62 https://mirrors.aliyun.com/ubuntu bionic-security/main arm64 Packages [1,054 kB]
Get:62 https://mirrors.aliyun.com/ubuntu bionic-security/main arm64 Packages [1,054 kB]
Get:62 https://mirrors.aliyun.com/ubuntu bionic-security/main arm64 Packages [1,054 kB]
Ign:62 https://mirrors.aliyun.com/ubuntu bionic-security/main arm64 Packages
Ign:63 https://mirrors.aliyun.com/ubuntu bionic-security/restricted arm64 Packages
Ign:87 https://mirrors.aliyun.com/ubuntu bionic-proposed/main arm64 Packages   
Ign:88 https://mirrors.aliyun.com/ubuntu bionic-proposed/restricted arm64 Packages
Ign:89 https://mirrors.aliyun.com/ubuntu bionic-proposed/universe arm64 Packages
Ign:64 https://mirrors.aliyun.com/ubuntu bionic-security/universe arm64 Packages
Ign:65 https://mirrors.aliyun.com/ubuntu bionic-security/multiverse arm64 Packages
Ign:90 https://mirrors.aliyun.com/ubuntu bionic-backports/main arm64 Packages
Ign:91 https://mirrors.aliyun.com/ubuntu bionic-backports/universe arm64 Packages
Ign:66 https://mirrors.aliyun.com/ubuntu bionic-updates/main arm64 Packages
Ign:67 https://mirrors.aliyun.com/ubuntu bionic-updates/restricted arm64 Packages
Ign:68 https://mirrors.aliyun.com/ubuntu bionic-updates/universe arm64 Packages
Ign:73 https://mirrors.aliyun.com/ubuntu bionic-updates/multiverse arm64 Packages
Ign:26 https://mirrors.aliyun.com/ubuntu bionic/restricted arm64 Packages
Ign:48 https://mirrors.aliyun.com/ubuntu bionic/universe arm64 Packages
Ign:54 https://mirrors.aliyun.com/ubuntu bionic/multiverse arm64 Packages
Err:21 https://mirrors.aliyun.com/ubuntu bionic/main arm64 Packages
  404  Not Found [IP: 58.216.13.241 443]
Ign:62 https://mirrors.aliyun.com/ubuntu bionic-security/main arm64 Packages
Ign:63 https://mirrors.aliyun.com/ubuntu bionic-security/restricted arm64 Packages
Ign:87 https://mirrors.aliyun.com/ubuntu bionic-proposed/main arm64 Packages
Ign:88 https://mirrors.aliyun.com/ubuntu bionic-proposed/restricted arm64 Packages
Ign:89 https://mirrors.aliyun.com/ubuntu bionic-proposed/universe arm64 Packages
Ign:64 https://mirrors.aliyun.com/ubuntu bionic-security/universe arm64 Packages
Ign:65 https://mirrors.aliyun.com/ubuntu bionic-security/multiverse arm64 Packages
Ign:90 https://mirrors.aliyun.com/ubuntu bionic-backports/main arm64 Packages
Ign:91 https://mirrors.aliyun.com/ubuntu bionic-backports/universe arm64 Packages
Ign:66 https://mirrors.aliyun.com/ubuntu bionic-updates/main arm64 Packages
Ign:67 https://mirrors.aliyun.com/ubuntu bionic-updates/restricted arm64 Packages
Ign:68 https://mirrors.aliyun.com/ubuntu bionic-updates/universe arm64 Packages
Ign:73 https://mirrors.aliyun.com/ubuntu bionic-updates/multiverse arm64 Packages
Err:62 https://mirrors.aliyun.com/ubuntu bionic-security/main arm64 Packages
  404  Not Found [IP: 58.216.13.241 443]
Ign:63 https://mirrors.aliyun.com/ubuntu bionic-security/restricted arm64 Packages
Ign:87 https://mirrors.aliyun.com/ubuntu bionic-proposed/main arm64 Packages
Ign:88 https://mirrors.aliyun.com/ubuntu bionic-proposed/restricted arm64 Packages
Ign:89 https://mirrors.aliyun.com/ubuntu bionic-proposed/universe arm64 Packages
Ign:64 https://mirrors.aliyun.com/ubuntu bionic-security/universe arm64 Packages
Ign:65 https://mirrors.aliyun.com/ubuntu bionic-security/multiverse arm64 Packages
Ign:90 https://mirrors.aliyun.com/ubuntu bionic-backports/main arm64 Packages
Ign:91 https://mirrors.aliyun.com/ubuntu bionic-backports/universe arm64 Packages
Err:66 https://mirrors.aliyun.com/ubuntu bionic-updates/main arm64 Packages    
  404  Not Found [IP: 58.216.13.241 443]
Ign:67 https://mirrors.aliyun.com/ubuntu bionic-updates/restricted arm64 Packages
Ign:68 https://mirrors.aliyun.com/ubuntu bionic-updates/universe arm64 Packages
Ign:73 https://mirrors.aliyun.com/ubuntu bionic-updates/multiverse arm64 Packages
Err:87 https://mirrors.aliyun.com/ubuntu bionic-proposed/main arm64 Packages   
  404  Not Found [IP: 58.216.13.241 443]
Ign:88 https://mirrors.aliyun.com/ubuntu bionic-proposed/restricted arm64 Packages
Ign:89 https://mirrors.aliyun.com/ubuntu bionic-proposed/universe arm64 Packages
Err:90 https://mirrors.aliyun.com/ubuntu bionic-backports/main arm64 Packages  
  404  Not Found [IP: 58.216.13.241 443]
Ign:91 https://mirrors.aliyun.com/ubuntu bionic-backports/universe arm64 Packages
Reading package lists... Done                                                  
E: Failed to fetch https://mirrors.aliyun.com/ubuntu/dists/bionic/main/binary-arm64/Packages  404  Not Found [IP: 58.216.13.241 443]
E: Failed to fetch https://mirrors.aliyun.com/ubuntu/dists/bionic-security/main/binary-arm64/Packages  404  Not Found [IP: 58.216.13.241 443]
E: Failed to fetch https://mirrors.aliyun.com/ubuntu/dists/bionic-updates/main/binary-arm64/Packages  404  Not Found [IP: 58.216.13.241 443]
E: Failed to fetch https://mirrors.aliyun.com/ubuntu/dists/bionic-proposed/main/binary-arm64/Packages  404  Not Found [IP: 58.216.13.241 443]
E: Failed to fetch https://mirrors.aliyun.com/ubuntu/dists/bionic-backports/main/binary-arm64/Packages  404  Not Found [IP: 58.216.13.241 443]
E: Some index files failed to download. They have been ignored, or old ones used instead.

起初以为是源的问题，所以更换了/etc/apt/sources.list，试用了科大源、阿里源、官方源。但最终在执行update时还是会出现上述问题。

考虑到自己的设备是嵌入式设备，架构是arm64。在网上搜索到华为在其鲲鹏系列处理器上做的一些源，由于是同样的cpu架构类型，就尝试试用这个源，执行如下命令，将Ubuntu18.04的华为源写入/etc/apt/sources.list中。

$ sudo wget -O /etc/apt/sources.list https://repo.huaweicloud.com/repository/conf/Ubuntu-Ports-bionic.list

robot@robot-desktop:/etc/apt$ sudo wget -O /etc/apt/sources.list https://repo.huaweicloud.com/repository/conf/Ubuntu-Ports-bionic.list
--2021-10-15 18:40:16--  https://repo.huaweicloud.com/repository/conf/Ubuntu-Ports-bionic.list
Resolving repo.huaweicloud.com (repo.huaweicloud.com)... 112.132.250.40, 112.132.250.42, 112.132.250.43, ...
Connecting to repo.huaweicloud.com (repo.huaweicloud.com)|112.132.250.40|:443... connected.
HTTP request sent, awaiting response... 200 OK
Length: 1019 [application/octet-stream]
Saving to: ‘/etc/apt/sources.list’

/etc/apt/sources.list             100%[=============================================================>]    1019  --.-KB/s    in 0s      

2021-10-15 18:40:16 (53.8 MB/s) - ‘/etc/apt/sources.list’ saved [1019/1019]

,然后再执行apt-get update，效果如下，可以看到已经正常执行了。

robot@robot-desktop:/etc/apt$ sudo apt-get update
Get:1 file:/var/cuda-repo-l4t-10-2-local  InRelease
Ign:1 file:/var/cuda-repo-l4t-10-2-local  InRelease
Get:2 file:/var/visionworks-repo  InRelease
Ign:2 file:/var/visionworks-repo  InRelease
Get:3 file:/var/visionworks-sfm-repo  InRelease
Ign:3 file:/var/visionworks-sfm-repo  InRelease
Get:4 file:/var/visionworks-tracking-repo  InRelease
Ign:4 file:/var/visionworks-tracking-repo  InRelease
Get:5 file:/var/cuda-repo-l4t-10-2-local  Release [564 B]
Get:6 file:/var/visionworks-repo  Release [2,001 B]
Get:7 file:/var/visionworks-sfm-repo  Release [2,005 B]
Get:8 file:/var/visionworks-tracking-repo  Release [2,010 B]
Get:5 file:/var/cuda-repo-l4t-10-2-local  Release [564 B]
Get:6 file:/var/visionworks-repo  Release [2,001 B]
Get:7 file:/var/visionworks-sfm-repo  Release [2,005 B]
Get:8 file:/var/visionworks-tracking-repo  Release [2,010 B]
Get:9 https://repo.huaweicloud.com/ubuntu-ports bionic InRelease [242 kB]
Get:11 https://repo.huaweicloud.com/ubuntu-ports bionic-security InRelease [88.7 kB]                                                   
Get:13 https://repo.huaweicloud.com/ubuntu-ports bionic-updates InRelease [88.7 kB]                                                    
Get:14 https://repo.huaweicloud.com/ubuntu-ports bionic-backports InRelease [74.6 kB]                                                  
Hit:16 http://packages.ros.org/ros/ubuntu bionic InRelease                                                                             
Get:20 https://repo.huaweicloud.com/ubuntu-ports bionic/multiverse Sources [181 kB]                                               
Hit:18 https://repo.download.nvidia.cn/jetson/common r32.6 InRelease                                        
Hit:19 https://repo.download.nvidia.cn/jetson/t194 r32.6 InRelease                               
Get:21 https://repo.huaweicloud.com/ubuntu-ports bionic/universe Sources [9,051 kB]              
Get:22 https://repo.huaweicloud.com/ubuntu-ports bionic/restricted Sources [5,324 B]
Get:23 https://repo.huaweicloud.com/ubuntu-ports bionic/main Sources [829 kB]
Get:24 https://repo.huaweicloud.com/ubuntu-ports bionic/main arm64 Packages [975 kB]
Get:25 https://repo.huaweicloud.com/ubuntu-ports bionic/main Translation-en [516 kB]
Get:26 https://repo.huaweicloud.com/ubuntu-ports bionic/main arm64 DEP-11 Metadata [472 kB]
Get:27 https://repo.huaweicloud.com/ubuntu-ports bionic/main DEP-11 48x48 Icons [118 kB]
Get:28 https://repo.huaweicloud.com/ubuntu-ports bionic/main DEP-11 64x64 Icons [245 kB]
Get:29 https://repo.huaweicloud.com/ubuntu-ports bionic/restricted arm64 Packages [664 B]
Get:30 https://repo.huaweicloud.com/ubuntu-ports bionic/restricted Translation-en [3,584 B]
Get:31 https://repo.huaweicloud.com/ubuntu-ports bionic/universe arm64 Packages [8,316 kB]
Get:32 https://repo.huaweicloud.com/ubuntu-ports bionic/universe Translation-en [4,941 kB]                                             
Get:33 https://repo.huaweicloud.com/ubuntu-ports bionic/universe arm64 DEP-11 Metadata [3,243 kB]                                      
Get:34 https://repo.huaweicloud.com/ubuntu-ports bionic/universe DEP-11 48x48 Icons [2,151 kB]                                         
Get:35 https://repo.huaweicloud.com/ubuntu-ports bionic/universe DEP-11 64x64 Icons [8,420 kB]                                         
Get:36 https://repo.huaweicloud.com/ubuntu-ports bionic/multiverse arm64 Packages [126 kB]                                             
Get:37 https://repo.huaweicloud.com/ubuntu-ports bionic/multiverse Translation-en [108 kB]                                             
Get:38 https://repo.huaweicloud.com/ubuntu-ports bionic/multiverse arm64 DEP-11 Metadata [44.4 kB]                                     
Get:39 https://repo.huaweicloud.com/ubuntu-ports bionic/multiverse DEP-11 48x48 Icons [8,931 B]                                        
Get:40 https://repo.huaweicloud.com/ubuntu-ports bionic/multiverse DEP-11 64x64 Icons [225 kB]                                         
Get:41 https://repo.huaweicloud.com/ubuntu-ports bionic-security/restricted Sources [20.8 kB]                                          
Get:42 https://repo.huaweicloud.com/ubuntu-ports bionic-security/multiverse Sources [7,972 B]                                          
Get:43 https://repo.huaweicloud.com/ubuntu-ports bionic-security/main Sources [258 kB]                                                 
Get:44 https://repo.huaweicloud.com/ubuntu-ports bionic-security/universe Sources [283 kB]                                             
Get:45 https://repo.huaweicloud.com/ubuntu-ports bionic-security/main arm64 Packages [1,054 kB]                                        
Get:46 https://repo.huaweicloud.com/ubuntu-ports bionic-security/main Translation-en [346 kB]                                          
Get:47 https://repo.huaweicloud.com/ubuntu-ports bionic-security/main arm64 DEP-11 Metadata [44.3 kB]                                  
Get:48 https://repo.huaweicloud.com/ubuntu-ports bionic-security/main DEP-11 48x48 Icons [28.9 kB]                                     
Get:49 https://repo.huaweicloud.com/ubuntu-ports bionic-security/main DEP-11 64x64 Icons [65.2 kB]                                     
Get:50 https://repo.huaweicloud.com/ubuntu-ports bionic-security/restricted arm64 Packages [3,200 B]                                   
Get:51 https://repo.huaweicloud.com/ubuntu-ports bionic-security/restricted Translation-en [63.2 kB]                                   
Get:52 https://repo.huaweicloud.com/ubuntu-ports bionic-security/universe arm64 Packages [1,013 kB]                                    
Get:53 https://repo.huaweicloud.com/ubuntu-ports bionic-security/universe Translation-en [261 kB]                                      
Get:54 https://repo.huaweicloud.com/ubuntu-ports bionic-security/universe arm64 DEP-11 Metadata [52.8 kB]                              
Get:55 https://repo.huaweicloud.com/ubuntu-ports bionic-security/universe DEP-11 48x48 Icons [25.0 kB]                                 
Get:56 https://repo.huaweicloud.com/ubuntu-ports bionic-security/universe DEP-11 64x64 Icons [132 kB]                                  
Get:57 https://repo.huaweicloud.com/ubuntu-ports bionic-security/multiverse arm64 Packages [2,728 B]                                   
Get:58 https://repo.huaweicloud.com/ubuntu-ports bionic-security/multiverse Translation-en [4,732 B]                                   
Get:59 https://repo.huaweicloud.com/ubuntu-ports bionic-security/multiverse DEP-11 48x48 Icons [29 B]                                  
Get:60 https://repo.huaweicloud.com/ubuntu-ports bionic-security/multiverse DEP-11 64x64 Icons [2,638 B]                               
Get:61 https://repo.huaweicloud.com/ubuntu-ports bionic-updates/universe Sources [457 kB]                                              
Get:62 https://repo.huaweicloud.com/ubuntu-ports bionic-updates/main Sources [518 kB]                                                  
Get:63 https://repo.huaweicloud.com/ubuntu-ports bionic-updates/multiverse Sources [15.9 kB]                                           
Get:64 https://repo.huaweicloud.com/ubuntu-ports bionic-updates/restricted Sources [23.7 kB]                                           
Get:65 https://repo.huaweicloud.com/ubuntu-ports bionic-updates/main arm64 Packages [1,354 kB]                                         
Get:66 https://repo.huaweicloud.com/ubuntu-ports bionic-updates/main Translation-en [438 kB]                                           
Get:67 https://repo.huaweicloud.com/ubuntu-ports bionic-updates/main arm64 DEP-11 Metadata [287 kB]                                    
Get:68 https://repo.huaweicloud.com/ubuntu-ports bionic-updates/main DEP-11 48x48 Icons [82.9 kB]                                      
Get:69 https://repo.huaweicloud.com/ubuntu-ports bionic-updates/main DEP-11 64x64 Icons [154 kB]                                       
Get:70 https://repo.huaweicloud.com/ubuntu-ports bionic-updates/restricted arm64 Packages [3,756 B]                                    
Get:71 https://repo.huaweicloud.com/ubuntu-ports bionic-updates/restricted Translation-en [66.9 kB]                                    
Get:72 https://repo.huaweicloud.com/ubuntu-ports bionic-updates/universe arm64 Packages [1,561 kB]                                     
Get:73 https://repo.huaweicloud.com/ubuntu-ports bionic-updates/universe Translation-en [377 kB]                                       
Get:74 https://repo.huaweicloud.com/ubuntu-ports bionic-updates/universe arm64 DEP-11 Metadata [294 kB]                                
Get:75 https://repo.huaweicloud.com/ubuntu-ports bionic-updates/universe DEP-11 48x48 Icons [226 kB]                                   
Get:76 https://repo.huaweicloud.com/ubuntu-ports bionic-updates/universe DEP-11 64x64 Icons [501 kB]                                   
Get:77 https://repo.huaweicloud.com/ubuntu-ports bionic-updates/multiverse arm64 Packages [4,908 B]                                    
Get:78 https://repo.huaweicloud.com/ubuntu-ports bionic-updates/multiverse Translation-en [6,808 B]                                    
Get:79 https://repo.huaweicloud.com/ubuntu-ports bionic-updates/multiverse DEP-11 48x48 Icons [29 B]                                   
Get:80 https://repo.huaweicloud.com/ubuntu-ports bionic-updates/multiverse DEP-11 64x64 Icons [2,638 B]                                
Get:81 https://repo.huaweicloud.com/ubuntu-ports bionic-backports/main Sources [5,440 B]                                               
Get:82 https://repo.huaweicloud.com/ubuntu-ports bionic-backports/universe Sources [5,360 B]                                           
Get:83 https://repo.huaweicloud.com/ubuntu-ports bionic-backports/main arm64 Packages [9,992 B]                                        
Get:84 https://repo.huaweicloud.com/ubuntu-ports bionic-backports/main Translation-en [4,764 B]                                        
Get:85 https://repo.huaweicloud.com/ubuntu-ports bionic-backports/universe arm64 Packages [9,932 B]                                    
Get:86 https://repo.huaweicloud.com/ubuntu-ports bionic-backports/universe Translation-en [4,588 B]                                    
Get:87 https://repo.huaweicloud.com/ubuntu-ports bionic-backports/universe arm64 DEP-11 Metadata [9,268 B]                             
Get:88 https://repo.huaweicloud.com/ubuntu-ports bionic-backports/universe DEP-11 48x48 Icons [2,809 B]                                
Get:89 https://repo.huaweicloud.com/ubuntu-ports bionic-backports/universe DEP-11 64x64 Icons [3,943 B]                                
Fetched 50.6 MB in 18s (2,797 kB/s)                                                                                                    
Reading package lists... Done

Errors were encountered while processing:
 /var/cache/apt/archives/python-catkin-pkg-modules_0.4.7-1_all.deb
 /var/cache/apt/archives/python-catkin-pkg_0.4.7-100_all.deb
 /var/cache/apt/archives/python-rosdistro-modules_0.7.0-1_all.deb
 /var/cache/apt/archives/python-rosdistro_0.7.0-100_all.deb

但是出现了几个二进制包处理失败的问题。考虑到是包的损坏，想用"sudo apt --fix-broken install"指令去修复。执行结果如下：

robot@robot-desktop:/etc/apt$ sudo apt --fix-broken install
Reading package lists... Done
Building dependency tree       
Reading state information... Done
Correcting dependencies... Done
The following additional packages will be installed:
  python-rosdistro-modules python-rospkg-modules
The following NEW packages will be installed:
  python-rosdistro-modules python-rospkg-modules
0 upgraded, 2 newly installed, 0 to remove and 96 not upgraded.
251 not fully installed or removed.
Need to get 0 B/55.5 kB of archives.
After this operation, 398 kB of additional disk space will be used.
Do you want to continue? [Y/n] y
debconf: delaying package configuration, since apt-utils is not installed
(Reading database ... 201153 files and directories currently installed.)
Preparing to unpack .../python-rospkg-modules_1.3.0-1_all.deb ...
Unpacking python-rospkg-modules (1.3.0-1) ...
dpkg: error processing archive /var/cache/apt/archives/python-rospkg-modules_1.3.0-1_all.deb (--unpack):
 trying to overwrite '/usr/lib/python2.7/dist-packages/rospkg/__init__.py', which is also in package python-rospkg 1.1.4-1
Preparing to unpack .../python-rosdistro-modules_0.8.3-1_all.deb ...
Unpacking python-rosdistro-modules (0.8.3-1) ...
dpkg: error processing archive /var/cache/apt/archives/python-rosdistro-modules_0.8.3-1_all.deb (--unpack):
 trying to overwrite '/usr/lib/python2.7/dist-packages/rosdistro/__init__.py', which is also in package python-rosdistro 0.6.6-1
Errors were encountered while processing:
 /var/cache/apt/archives/python-rospkg-modules_1.3.0-1_all.deb
 /var/cache/apt/archives/python-rosdistro-modules_0.8.3-1_all.deb
E: Sub-process /usr/bin/dpkg returned an error code (1)

可以看到此问题并没有能够解决，后参考此博主的解决方法，使用这个指令"sudo dpkg -i --force-overwrite "来强制执行。如下：对上面的两个deb依次执行。

$ sudo dpkg -i --force-overwrite /var/cache/apt/archives/python-rospkg-modules_1.3.0-1_all.deb
$ sudo dpkg -i --force-overwrite  /var/cache/apt/archives/python-rosdistro-modules_0.8.3-1_all.deb
$ sudo apt-get -f install

然后再执行update一切正常。

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