1.前期准备
打开系统设置-软件和更新 ,确保图示的选项已选中。
点击close,选择reload。
在不同的教程里搜到的这一步都不同,似乎没什么影响,就很迷。。
2.设置你的源文件列表
设置计算机以接受packages.ros.org中的软件。
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
3.配置密钥
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654
4.更新资源库
sudo apt update
5.搜索ros-melodic
apt search ros-melodic
6.安装桌面完全版ros
sudo aptitude install ros-melodic-desktop-full
sudo apt-get install ros-melodic-rqt*
7.初始化rosdep:
sudo rosdep init
如果报错: sudo: rosdep:command not found
按照以下方式解决:
sudo apt install rospack-tools
之后运行 sudo rosdep init 即可
此时若报错:
ERROR: cannot download default sources list from:
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
Website may be down.
多尝试几次,或者更换网络(wifi,热点)
成功后继续执行:
rosdep update
报错:
ERROR: error loading sources list:
<urlopen error (https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml)>
解决方法:
定位rosdep资源下载函数。该函数名为download_rosdep_data,位于/usr/lib/python2.7/dist-packages/rosdep2/sources_list.py。我们修改这一函数,添加:
url=“https://ghproxy.com/”+url
修改方法如下:
sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py
回车后,修改对应部分,保存退出。修改后代码如图:
用同样的方法修改/usr/lib/python2.7/dist-packages/rosdistro/init.py里面的DEFAULT_INDEX_URL。
即将DEFAULT_INDEX_URL 进行如下替换:
DEFAULT_INDEX_URL = 'https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml'
除此处外,下述文件中也含有github地址,分别是:
/usr/lib/python2.7/dist-packages/rosdep2/gbpdistro_support.py 36行
/usr/lib/python2.7/dist-packages/rosdep2/sources_list.py 72行
/usr/lib/python2.7/dist-packages/rosdep2/rep3.py 39行
/usr/lib/python2.7/dist-packages/rosdistro/manifest_provider/github.py 68行83行 119行
将对应网址的最前面加上:https://ghproxy.com/。如将
url = 'https://raw.githubusercontent.com/%s/%s/package.xml' % (path, release_tag)
修改为:
url = 'https://ghproxy.com/https://raw.githubusercontent.com/%s/%s/package.xml' % (path, release_tag)
在/usr/lib/python2.7/dist-packages/rosdep2/gbpdistro_support.py 第204行添加如下代码
gbpdistro_url = ‘https://ghproxy.com/’ + gbpdistro_url
再次尝试执行rosdep update,问题解决。
参考文章:https://blog.csdn.net/leida_wt/article/details/115120940?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522163263712316780265471403%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=163263712316780265471403&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2allfirst_rank_ecpm_v1~rank_v31_ecpm-1-115120940.first_rank_v2_pc_rank_v29&utm_term=%E8%A7%A3%E5%86%B3ROS%E7%B3%BB%E7%BB%9Frosdep+update%E8%B6%85%E6%97%B6%E9%97%AE%E9%A2%98%E7%9A%84&spm=1018.2226.3001.4187
8.环境变量设置
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
9. 安装编译依赖库
运行下述命令。
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential
安装完成!
测试
打开一个终端,输入并运行roscore
再打开一个终端,输入并运行rosrun turtlesim turtlesim_node,此时会出现小海龟的界面。
再打开一个终端,输入并运行rosrun turtlesim turtle_teleop_key。保持该终端窗口主语激活状态,按下上下左右方向键,若小海龟可以运动,则说明ros安装成功。
参考文章:
https://blog.csdn.net/qq_41450811/article/details/99079041?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522163262587716780262546694%2522%252C%2522scm%2522%253A%252220140713.130102334…%2522%257D&request_id=163262587716780262546694&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2allsobaiduend~default-2-99079041.first_rank_v2_pc_rank_v29&utm_term=ubuntu18.04+ros+melodic&spm=1018.2226.3001.4187
https://blog.csdn.net/xpy870663266/article/details/94742491?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522163263430716780357285903%2522%252C%2522scm%2522%253A%252220140713.130102334…%2522%257D&request_id=163263430716780357285903&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2allsobaiduend~default-1-94742491.first_rank_v2_pc_rank_v29&utm_term=Unable+to+correct+problems%2C+you+have+held+broken+packages.&spm=1018.2226.3001.4187
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