ROS melodic 报错解决干货

从安装到使用一站式问题解决方案大全，话不多说，直接上。

一，准备工作

1. 配置Ubuntu软件库
首先，对Ubuntu软件库进行设置，选中前5个选项。网址换阿里云

2.更改Ubuntu软件源（我没有做这一步）

sudo gedit /etc/apt/sources.list

# deb cdrom:[Ubuntu 16.04 LTS _Xenial Xerus_ - Release amd64 (20160420.1)]/ xenial main restricted
deb-src http://archive.ubuntu.com/ubuntu xenial main restricted #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial main restricted
deb-src http://mirrors.aliyun.com/ubuntu/ xenial main restricted multiverse universe #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted multiverse universe #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial universe
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates universe
deb http://mirrors.aliyun.com/ubuntu/ xenial multiverse
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates multiverse
deb http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse #Added by software-properties
deb http://archive.canonical.com/ubuntu xenial partner
deb-src http://archive.canonical.com/ubuntu xenial partner
deb http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted multiverse universe #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial-security universe
deb http://mirrors.aliyun.com/ubuntu/ xenial-security multiverse

deb http://mirrors.aliyun.com/ubuntu/ bionic main universe restricted multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic main universe restricted multiverse #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ bionic-updates main universe restricted multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-updates main universe restricted multiverse #Added by software-properties
deb http://security.ubuntu.com/ubuntu/ bionic-security main universe restricted multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-security main universe restricted multiverse #Added by software-properties

二、正式安装步骤
1.添加ROS软件源

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

2.向系统添加秘钥

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

3.安装Ros软件包

首先，更新系统软件：
sudo apt update

下载完整版Ros-Melodic软件包
sudo apt install ros-melodic-desktop-full

4.初始化rosdep

sudo apt-get install python-rosdep
sudo rosdep init

*******解决ROS:sudo rosdep init出错常规方法都无效后的解决办法*******

在/usr/lib/python2.7/dist-packages/rosdep2/sources_list.py中顶部直接插入两行代码取消SSL验证
输入命令打开配置文件：

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

打开后在合适位置添加以下代码：

import ssl
ssl._create_default_https_context = ssl._create_unverified_context

***********如果出现错误：
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.
————————————————
解决办法，执行如下命令

cd /etc
sudo gedit hosts
在文件末尾添加
151.101.84.133 raw.githubusercontent.com

如果出现错误（我觉得这个错误是我在网上搜解决办法的时候自己手动新建了/etc/ros/rosdep/sources.list.d目录，并且还在这个目录下编辑了20-default.list的相关内容，我通过上面的方法正确解决了之后，产生了相同的文件20-default.list，二者发生冲突。嗯…就是需要删掉以前强制新建的。）
ERROR: default sources list file already exists:
/etc/ros/rosdep/sources.list.d/20-default.list
Please delete if you wish to re-initialize
————————————————
解决办法，执行如下命令
sudo rm /etc/ros/rosdep/sources.list.d/20-default.list
后再重新运行命令sudo rosdep init，可见就成功解决了！

******************************************************************

5.执行rosdep update更新

解决办法：大概是网络的问题，反复执行rosdep update命令即可

***************新办法**************

sudo apt-get install python3-pip
sudo pip3 install rosdepc
sudo rosdepc init
rosdepc update
**********************************

6.设置环境变量：
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc

7.安装ros-install

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

三、测试安装是否成功

roscore

rosrun turtlesim turtlesim_node

rosrun turtlesim turtle_teleop_key

更新cmake

wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | sudo apt-key add -

将存储库添加到您的源列表并进行更新

sudo apt-add-repository 'deb https://apt.kitware.com/ubuntu/ bionic main'

sudo apt-get update

然后再使用apt安装就是最新版本的cmake啦

sudo apt install cmake

胡春旭ros源码 踩过的坑：

ROS-Melodic版编译安装ecto遇到的坑

cd your_path/src
git clone http://github.com/plasmodic/ecto.git

sudo apt-get install libboost-python-dev libboost-filesystem-dev libboost-system-dev libboost-thread-dev python-setuptools python-gobject python-gtk2 graphviz doxygen python-sphinx

问题二：Could not find the required component 'manipulation_msgs'.

git clone https://github.com/ros-interactive-manipulation/manipulation_msgs.git

问题三：Could not find the required component 'household_objects_database_msgs'.

https://github.com/ros-interactive-manipulation/household_objects_database_msgs

问题四：Could not find the required component 'object_recognition_msgs'

sudo apt-get install ros-melodic-object-recognition-msgs

问题五：Could not find the required component 'moveit_msgs'.

sudo apt install ros-melodic-moveit

问题六：Could not find the required component 'move_base_msgs'.

问题七：/home/gaoyi/ros-data/ros-project/catkin_ws/src/robot_perception/robot_voice/src/linuxrec.c:12:10: fatal error: alsa/asoundlib.h: 没有那个文件或目录
 #include <alsa/asoundlib.h>

sudo apt-get install libasound2-dev

问题八:error: boost/tr1/unordered_map.hpp: 没有那个文件或目录

1，进入到ecto的目录下使用如下命令找到这两个文件
$ grep -r 'tr1'
./src/lib/util.cpp:#include <boost/tr1/unordered_map.hpp>
./src/lib/plasm/impl.hpp:#include <boost/tr1/unordered_map.hpp>
把tr1删除，同时把代码里的std::tr1::unordered_map字段改成boost::unordered_map即可

问题九：/usr/bin/ld: 找不到 -lmsc
sudo apt-get install apt-file
apt-file update
apt-file search libmsc.so

sudo cp /home/gaoyi/ros-data/ros-project/catkin_ws/src/robot_perception/robot_voice/libs/x64/libmsc.so /lib/x86_64-linux-gnu/

Ubuntu安装Kinect驱动（openni、NITE、Sensor）及遇到的问题
可以在我的网盘下载：http://pan.baidu.com/s/1hqHB10w 提取密码：wrmn

OpenNI-Bin-Dev-Linux-x64-v1.5.7.10.tar
NITE-Bin-Linux-x64-v1.5.2.23.tar
SensorKinect093-Bin-Linux-x64-v5.1.2.1

问题十：  TF：ros源码中odom与base_footprint无法建立联系

<node pkg="tf" type="static_transform_publisher" name="odom_to_base_footprint" args="0 0 0 0 0 0 1 odom base_footprint 50" />

问题11：xacro: in-order processing became default in ROS Melodic. You can drop the option.
不需要  --inorder参数

问题12 ERROR: cannot launch node of type [rplidar_ros/rplidarNode]: rplidar_ros

sudo apt-get install ros-melodic-rplidar-ros

问题13  ERROR: cannot launch node of type [robot_pose_ekf/robot_pose_ekf]: robot_pose_ekf

sudo apt-get install ros-melodic-robot_pose_ekf

问题14  raise CachePermissionError('Failed to write cache file: ' + str(e))
rosdep2.core.CachePermissionError: Failed to write cache file: [Errno 13] Permission denied: '/home/gaoy/.ros/rosdep/sources.cache/index'

给.ros赋予读写权限，递归
sudo chmod -R 777 .ros/

问题15 Spawn status: SpawnModel: Entity pushed to spawn queue, but spawn service timed out waiting for entity to appear in simulation under the name mrobot

<sim_time>354 199000000</sim_time> --><sim_time>0 0</sim_time>

问题16 Deprecated: xacro tag 'mrobot_body' w/o 'xacro:' xml namespace prefix (will be forbidden in Noetic)
when processing file: /home/gaoy/ros_project/catkin_uuai/src/robot_mrobot/mrobot_gazebo/urdf/mrobot_with_rplidar.urdf.xacro

增加xacro

问题17：imu报错
sudo apt install ros-melodic-imu-filter-madgwick

service udev reload
service udev restart

问题18：Could not find a package configuration file provided by "unique_id" with
sudo apt-get install ros-melodic-unique-id

问题19：Could not find a package configuration file provided by "yocs_msgs" with
sudo apt-get install ros-melodic-yocs-msgs*