Ros平台搭建——Ubutun18.0.4，本地部署方法

一、换源

源更换为国内源

二、安装Melodic

Melodic版本是针对Ubutun18.0.4的，如果系统是Ubutun其他系统或者其他Linux系统，请自行选择

1.配置Ros软件源

sudo sh -c 'echo "deb https://mirrors.ustc.edu.cn/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

2.配置密钥

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

3.更新软件源

sudo apt update

4.安装ros

sudo apt install ros-melodic-desktop-full

出现类似错误：

The following packages have unmet dependencies:
 aptitude : Depends: aptitude-common (= 0.8.10-6ubuntu1) but it is not going to be installed
            Depends: libcwidget3v5 but it is not going to be installed
 libuhd-dev : Depends: libuhd4.3.0 (= 4.3.0.0-0ubuntu1~bionic1) but it is not going to be installed
 uhd-host : Depends: libuhd4.3.0 (= 4.3.0.0-0ubuntu1~bionic1) but it is not going to be installed
E: Unmet dependencies. Try 'apt --fix-broken install' with no packages (or specify a solution).

执行命令：

sudo apt autoremove uhd-host libuhd-dev

把那两玩意儿删了得了

三、下载本地部署源头

1.github下载网址

https://github.com/ros/rosdistro.git

2.百度网盘下载网址

https://pan.baidu.com/s/1Vyx_FzWQqen9gY5O2wqxYA

提取码: 7bkz

3.下载后并解压，放在本地主目录里

四、安装python-rosdep

sudo apt-get install python-rosdep

五、修改本地源的20-default.list文件

sudo gedit /home/ll/rosdistro-master/rosdep/sources.list.d/20-default.list

这里要根据自己电脑用户名和第三步本地源放置的位置有关，如果找不到可以执行下面命令

find ~/ -name 20-default.list

将所有内容替换为如下：

# os-specific listings first
yaml file:///home/ll/rosdistro-master/rosdep/osx-homebrew.yaml osx

# generic
yaml file:///home/ll/rosdistro-master/rosdep/base.yaml
yaml file:///home/ll/rosdistro-master/rosdep/python.yaml
yaml file:///home/ll/rosdistro-master/rosdep/ruby.yaml
gbpdistro file:///home/ll/rosdistro-master/releases/fuerte.yaml fuerte

# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead

注意：这里的/home/ll/rosdistro-master 根据自己本地源放置位置和自己主机名修改，修改成自己本地源内目录rosdep上一级目录的绝对地址即可。

六、执行rosdep init

在执行前，要修改python默认源

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

将

DEFAULT_SOURCES_LIST_URL = 'https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list'

更换为

DEFAULT_SOURCES_LIST_URL = 'file:///home/ll/rosdistro-master/rosdep/sources.list.d/20-default.list'

注意：这里的/home/ll/rosdistro-master 根据自己本地源放置位置和自己主机名修改，修改成自己本地源内目录rosdep上一级目录的绝对地址即可。

执行init

sudo rosdep init

七、执行rosdep update

FUERTE_GBPDISTRO_URL = 'file:///home/ll/rosdistro-master/releases/fuerte.yaml'

在执行前也要修改对应的python源

第一个文件

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

将

FUERTE_GBPDISTRO_URL = 'https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml'

更换为

FUERTE_GBPDISTRO_URL = 'file:///home/ll/rosdistro-master/releases/fuerte.yaml'

注意：这里的/home/ll/rosdistro-master 根据自己本地源放置位置和自己主机名修改，修改成自己本地源内目录rosdep上一级目录的绝对地址即可。

第二个文件

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

将

REP3_TARGETS_URL = 'https://raw.githubusercontent.com/ros/rosdistro/master/releases/targets.yaml'

更换为

REP3_TARGETS_URL = 'file:///home/ll/rosdistro-master/releases/targets.yaml'

注意：这里的/home/ll/rosdistro-master 根据自己本地源放置位置和自己主机名修改，修改成自己本地源内目录rosdep上一级目录的绝对地址即可。

第三个文件

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

将

DEFAULT_INDEX_URL = 'https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml'

更换为

DEFAULT_INDEX_URL = 'file:///home/ll/rosdistro-master/index-v4.yaml'

注意：这里的/home/ll/rosdistro-master 根据自己本地源放置位置和自己主机名修改，修改成自己本地源内目录rosdep上一级目录的绝对地址即可。

执行update

sudo rosdep update

八、用户环境配置

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

九、安装包依赖

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

十、为ros启动配置权限

sudo chmod 777 -R ~/.ros/

十一、小乌龟测试

Ctrl+Alt+T

roscore

Ctrl+Alt+T

#ros UI启动
rosrun turtlesim turtlesim_node

Ctrl+Alt+T

#ros 小龟控制
rosrun turtlesim turtle_teleop_key