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Ubuntu18.04 ROS安装完整

 1 year ago
source link: https://blog.51cto.com/u_15723398/5488508
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参考来源：

​ ​旋律/安装/乌班图 - ROS维基​​

​ ​(12条消息) Ubuntu18.04安装ROS_PanJie_的博客-CSDN博客_ubuntu18.04安装ros​​

​ ​(12条消息) rosdep update 超时失败2021最新解决方法_WGH无疆的博客-CSDN博客_rosdep update 超时​​

1.添加源

Ctrl+Alt+T打开终端，Ctrl+Shift+V粘贴输入指令，回车，然后输入密码

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'



Ubuntu18.04  ROS安装完整_rosdep init解决



2.添加密钥



sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654



Ubuntu18.04  ROS安装完整_rosdep init解决_02



3.1更新软件源



sudo apt update



Ubuntu18.04  ROS安装完整_rosdep init解决_03



如果出现上面这种情况，即更新中有错误，应该是网络问题，可以换个网络再更新一次



Ubuntu18.04  ROS安装完整_ROS安装_04



3.2安装桌面完整版（建议在网速较好的情况下安装）



sudo apt install ros-melodic-desktop-full



Ubuntu18.04  ROS安装完整_ubuntu_05



如果下载未成功可以多下载几次



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4.设置环境变量



echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc



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5.安装rosinstall



sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential



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6.安装rosdep



6.1安装rosdep



sudo apt install python-rosdep



6.2初始化rosdep



sudo rosdep init



rosdep init报错问题



Ubuntu18.04  ROS安装完整_ROS安装_09



解决方案：



​ ​https://tool.lu/ip/ ​​



查询raw.githubusercontent.com的IP地址并复制下来



Ubuntu18.04  ROS安装完整_ubuntu_10



打开终端输入



sudo gedit /etc/hosts



将ip 与网址粘贴在第三行



185.199.109.133   raw.githubusercontent.com



Ubuntu18.04  ROS安装完整_ROS安装_11



重新输入rosdep init



sudo rosdep init



若出现以下错误



Ubuntu18.04  ROS安装完整_ubuntu_12



输入以下命令



sudo rm /etc/ros/rosdep/sources.list.d/20-default.list



再输入rosdep init



sudo rosdep init



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6.3更新rosdep



rosdep update



出现错误多输入几次，也可以换网络



rosdep update有效解决方法



一直报错可使用以下方法：



①打开/usr/lib/python2.7/dist-packages/rosdep2/sources_list.py



sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py



Ubuntu18.04  ROS安装完整_ROS安装_14



将url="https://ghproxy.com/"+url加入到download_rosdep_data()函数中



url="https://ghproxy.com/"+url



Ubuntu18.04  ROS安装完整_ubuntu_15



②在以下文件中将https://ghproxy.com/添加到​https://raw.githubusercontent.com​前



​/usr/lib/python2.7/dist-packages/rosdistro/__init__.py



/usr/lib/python2.7/dist-packages/rosdep2/gbpdistro_support.py 



/usr/lib/python2.7/dist-packages/rosdep2/sources_list.py 



/usr/lib/python2.7/dist-packages/rosdep2/rep3.py 



/usr/lib/python2.7/dist-packages/rosdistro/manifest_provider/github.py 



sudo gedit /usr/lib/python2.7/dist-packages/rosdistro/__init__.py



Ubuntu18.04  ROS安装完整_ubuntu_16



sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/gbpdistro_support.py



Ubuntu18.04  ROS安装完整_ubuntu_17



sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py



Ubuntu18.04  ROS安装完整_ubuntu_18



sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/rep3.py



Ubuntu18.04  ROS安装完整_rosdep init解决_19



sudo gedit /usr/lib/python2.7/dist-packages/rosdistro/manifest_provider/github.py



Ubuntu18.04  ROS安装完整_rosdep init解决_20



Ubuntu18.04  ROS安装完整_rosdep update问题解决_21



③打开/usr/lib/python2.7/dist-packages/rosdep2/gbpdistro_support.py



sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/gbpdistro_support.py



在以下位置添加gbpdistro_url = "https://ghproxy.com/" + gbpdistro_url​ ​​​



Ubuntu18.04  ROS安装完整_ROS安装_22



最后执行rosdep update能一次性过



没有ERROR就ok了



Ubuntu18.04  ROS安装完整_ubuntu_23



7.测试安装——小乌龟



打开一个终端，启动ROS Master：



roscore



Ubuntu18.04  ROS安装完整_rosdep init解决_24



打开另一个终端，启动小海龟仿真器：



rosrun turtlesim turtlesim_node



Ubuntu18.04  ROS安装完整_rosdep init解决_25



再打开一个终端，启动海龟控制节点



rosrun turtlesim turtle_teleop_key



Ubuntu18.04  ROS安装完整_ROS安装_26



在最后一个终端内按上下左右键便可控制海龟运动



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