ROS2学习（二）.Ubuntu20下用aptitude替代apt安装ROS包

desktop和base的原理一样，但是base的依赖包比较少，我这里就用base来做例子。

本文思路来自于https://askubuntu.com/questions/997694/unable-to-correct-problems-you-have-held-broken-packages-error
感谢原问题回答区的大神！

安装顺序

1. 首先执行：

sudo aptitude -f install ros-galactic-ros-base

中途选择了接受方案以后，看起来好像是得到了通过的结果

Accept this solution? [Y/n/q/?] Y

2. 再执行一遍，看起来仍然没有安装成功

sudo aptitude -f install ros-galactic-ros-base

现在提示是

The following packages have unmet dependencies:
 libc6-dev : Depends: libc6 (= 2.31-0ubuntu9.2) but 2.31-0ubuntu9.3 is installed
The following actions will resolve these dependencies:

      Keep the following packages at their current version:
1)      libacl1-dev [Not Installed]
2)      libattr1-dev [Not Installed]
……
93)     ros-galactic-visualization-msgs [Not Installed]
94)     zlib1g-dev [Not Installed]

      Leave the following dependencies unresolved:
95)     libpython3.8-dev recommends libc6-dev | libc-dev
96)     python3.8-dev recommends libc6-dev | libc-dev



Accept this solution? [Y/n/q/?]

一看这推荐方案，各种库保持为未安装版本，一堆的库依赖还没解决，这约等于啥也没做嘛。
这怎么行！怒选n

Accept this solution? [Y/n/q/?] n
The following actions will resolve these dependencies:

     Downgrade the following packages:
1)     libc6 [2.31-0ubuntu9.3 (now) -> 2.31-0ubuntu9.2 (focal-updates)]
2)     libc6-dbg [2.31-0ubuntu9.3 (now) -> 2.31-0ubuntu9.2 (focal-updates)]

好像有些变化，要把libc的库做个降级的样子。

这回的方案行了，选择 y

Accept this solution? [Y/n/q/?] y
The following packages will be DOWNGRADED:

看起来base正常安装起来了。

按照上述循环几次，主要是看到如果推荐的方案啥事儿也不干，就选n让它换方案就好了。
或者就是简单看选Y不干活儿，啥也没装，就选n会有相关的降级，然后再安装就好。

安装Log参考

第一轮装desktop

TWR:~$ sudo aptitude install ros-galactic-desktop
The following NEW packages will be installed:
  autoconf{a} automake{a} autotools-dev{a} binutils{a} binutils-common{a} binutils-x86-64-linux-gnu{a} blt{a}
  build-essential{a} cmake{a} cmake-data{a} cpp-8{a} cppcheck{a} cython3{a} default-libmysqlclient-dev{a}……
  ros-galactic-trajectory-msgs{a} ros-galactic-turtlesim{a} ros-galactic-uncrustify-vendor{a}
  ros-galactic-unique-identifier-msgs{a} ros-galactic-urdf{a} ros-galactic-urdf-parser-plugin{a} ros-galactic-urdfdom{a}
  ros-galactic-urdfdom-headers{a} ros-galactic-visualization-msgs{a} ros-galactic-yaml-cpp-vendor{a}
  ros-galactic-zstd-vendor{a} shioken2{a} sip-dev{a} tango-icon-theme{a} tcl{a} tcl-dev{a} tcl-vtk7{a} tcl8.6{a}
  tcl8.6-dev{a} tk{a} tk-dev{a} tk8.6{a} tk8.6-blt2.5{a} tk8.6-dev{a} ttf-bitstream-vera{a} uncrustify{a} unixodbc-dev{a}
  uuid-dev{a} va-driver-all{a} vdpau-driver-all{a} vtk7{a} x11proto-core-dev{a} x11proto-dev{a} x11proto-input-dev{a}
  x11proto-randr-dev{a} x11proto-scrnsaver-dev{a} x11proto-xext-dev{a} x11proto-xf86vidmode-dev{a}
  x11proto-xinerama-dev{a} xorg-sgml-doctools{a} xtrans-dev{a} zlib1g-dev{a}
0 packages upgraded, 973 newly installed, 0 to remove and 0 not upgraded.
Need to get 473 MB of archives. After unpacking 2,582 MB will be used.
The following packages have unmet dependencies:
 libc6-dev : Depends: libc6 (= 2.31-0ubuntu9.2) but 2.31-0ubuntu9.3 is installed
 libcurl4-gnutls-dev : Conflicts: libcurl4-openssl-dev but 7.68.0-1ubuntu2.5 is to be installed
 libcurl4-openssl-dev : Conflicts: libcurl4-gnutls-dev but 7.68.0-1ubuntu2.5 is to be installed
The following actions will resolve these dependencies:

       Keep the following packages at their current version:
1)       build-essential [Not Installed]
2)       default-libmysqlclient-dev [Not Installed]
3)       g++ [Not Installed]
……
323)     tcl-dev [Not Installed]
324)     tcl8.6-dev [Not Installed]
325)     tk-dev [Not Installed]
326)     tk8.6-dev [Not Installed]
327)     uuid-dev [Not Installed]
328)     zlib1g-dev [Not Installed]

       Leave the following dependencies unresolved:
329)     dpkg-dev recommends build-essential
330)     gcc recommends libc6-dev | libc-dev
331)     libltdl-dev recommends libtool
332)     cython3 recommends python3-dev
333)     gcc-8 recommends libc6-dev (>= 2.13-0ubuntu6)
334)     libgcc-7-dev recommends libc6-dev (>= 2.13-0ubuntu6)
335)     libgcc-8-dev recommends libc6-dev (>= 2.13-0ubuntu6)
336)     openmpi-bin recommends libopenmpi-dev
337)     sip-dev recommends python-sip-dev (>= 4.19.21+dfsg-1build1) | python3-sip-dev (>= 4.19.21+dfsg-1build1)
338)     gcc-9 recommends libc6-dev (>= 2.13-0ubuntu6)
339)     libgcc-9-dev recommends libc6-dev (>= 2.13-0ubuntu6)
340)     libpython3.8-dev recommends libc6-dev | libc-dev
341)     python3.8-dev recommends libc6-dev | libc-dev


Accept this solution? [Y/n/q/?] Y
The following NEW packages will be installed:
  autoconf{a} automake{a} autotools-dev{a} binutils{a} binutils-common{a} binutils-x86-64-linux-gnu{a} blt{a} cpp-8{a}
  dpkg-dev{a} fakeroot{a} fonts-lyx{a} gcc{a} gcc-8{a} gcc-8-base{a} gcc-9{a} libalgorithm-diff-perl{a}
  libalgorithm-diff-xs-perl{a} libalgorithm-merge-perl{a} libasan5{a} libatomic1{a} libbinutils{a} libctf-nobfd0{a}
  libctf0{a} libfakeroot{a} libgcc-8-dev{a} libgcc-9-dev{a} libitm1{a} liblsan0{a} libmpx2{a} libquadmath0{a}
  libsigsegv2{a} libtcl8.6{a} libtk8.6{a} libtsan0{a} libubsan1{a} libxml2-utils{a} m4{a} make{a} manpages-dev{a}
  ocl-icd-libopencl1{a} python3-distutils{a} python3-openssl{a} python3-setuptools{a} python3-tk{a} tango-icon-theme{a}
  tcl{a} tcl8.6{a} tk{a} tk8.6{a} tk8.6-blt2.5{a} ttf-bitstream-vera{a}
The following packages are RECOMMENDED but will NOT be installed:
  build-essential libc6-dev
0 packages upgraded, 51 newly installed, 0 to remove and 0 not upgraded.
Need to get 44.2 MB of archives. After unpacking 169 MB will be used.
Do you want to continue? [Y/n/?] Y
Get: 1 http://mirrors.ustc.edu.cn/ubuntu focal/main amd64 libsigsegv2 amd64 2.12-2 [13.9 kB]
Get: 2 http://mirrors.ustc.edu.cn/ubuntu focal/main amd64 m4 amd64 1.4.18-4 [199 kB]
Get: 3 http://mirrors.ustc.edu.cn/ubuntu focal/main amd64 autoconf all 2.69-11.1 [321 kB]
……

Get: 47 http://mirrors.ustc.edu.cn/ubuntu focal/universe amd64 tcl amd64 8.6.9+1 [5,112 B]
Get: 48 http://mirrors.ustc.edu.cn/ubuntu focal/main amd64 tk8.6 amd64 8.6.10-1 [12.5 kB]
Get: 49 http://mirrors.ustc.edu.cn/ubuntu focal/universe amd64 tk amd64 8.6.9+1 [3,240 B]
Get: 50 http://mirrors.ustc.edu.cn/ubuntu focal/universe amd64 ttf-bitstream-vera all 1.10-8 [352 kB]
Get: 51 http://mirrors.ustc.edu.cn/ubuntu focal/main amd64 ocl-icd-libopencl1 amd64 2.2.11-1ubuntu1 [30.3 kB]
Fetched 44.2 MB in 7s (6,704 kB/s)
Extracting templates from packages: 100%
Selecting previously unselected package libsigsegv2:amd64.
(Reading database ... 195327 files and directories currently installed.)
Preparing to unpack .../00-libsigsegv2_2.12-2_amd64.deb ...
Unpacking libsigsegv2:amd64 (2.12-2) ...
Selecting previously unselected package m4.
……
Processing triggers for doc-base (0.10.9) ...
Processing 2 added doc-base files...
Processing triggers for libc-bin (2.31-0ubuntu9.3) ...
Processing triggers for man-db (2.9.1-1) ...
Processing triggers for install-info (6.7.0.dfsg.2-5) ...

安装base

TWR:~$ sudo aptitude -f install ros-galactic-ros-base
The following NEW packages will be installed:
  cmake{a} cmake-data{a} cppcheck{a} docutils-common{a} google-mock{a} googletest{a} graphviz{a} libacl1-dev{a} libann0{a} libattr1-dev{a} libblas3{a} libbullet-dev{a} libbullet2.88{a}
  libc-dev-bin{a} libc6-dev{ab} libcdt5{a} libcgraph6{a} libconsole-bridge-dev{a} libconsole-bridge0.4{a} libcrypt-dev{a} libeigen3-dev{a} libexpat1-dev{a} libgfortran5{a} libgtest-dev{a}
  libgts-0.7-5{a} libgts-bin{a} libgvc6{a} libgvpr2{a} libjsoncpp1{a} liblab-gamut1{a} liblapack3{a} libpathplan4{a} libpython3-dev{a} libpython3.8-dev{a} librhash0{a} libspdlog-dev{a}
  libspdlog1{a} libsqlite3-dev{a} libtinyxml-dev{a} libtinyxml2-6a{a} libtinyxml2-dev{a} libtinyxml2.6.2v5{a} libyaml-dev{a} libzstd-dev{a} linux-libc-dev{a} pydocstyle{a} pyflakes{a}
  pyflakes3{a} python-pkg-resources{a} python-pyflakes{a} python3-argcomplete{a} python3-atomicwrites{a} python3-attr{a} python3-bs4{a} python3-catkin-pkg-modules{a} python3-dev{a}
  python3-docutils{a} python3-empy{a} python3-flake8{a} python3-html5lib{a} python3-ifcfg{a} python3-importlib-metadata{a} python3-lark{a} python3-lxml{a} python3-mccabe{a} python3-mock{a}
  python3-more-itertools{a} python3-numpy{a} python3-packaging{a} python3-pbr{a} python3-pluggy{a} python3-py{a} python3-pycodestyle{a} python3-pydocstyle{a} python3-pyflakes{a}
  python3-pygments{a} python3-pyparsing{a} python3-pytest{a} python3-roman{a} python3-rosdistro-modules{a} python3-rospkg-modules{a} python3-snowballstemmer{a} python3-soupsieve{a}
  python3-wcwidth{a} python3-webencodings{a} python3-zipp{a} python3.8-dev{a} ros-galactic-action-msgs{a} ros-galactic-actionlib-msgs{a} ros-galactic-ament-cmake{a}
  ros-galactic-ament-cmake-auto{a} ros-galactic-ament-cmake-copyright{a} ros-galactic-ament-cmake-core{a} ros-galactic-ament-cmake-cppcheck{a} ros-galactic-ament-cmake-cpplint{a}
  ros-galactic-ament-cmake-export-definitions{a} ros-galactic-ament-cmake-export-dependencies{a} ros-galactic-ament-cmake-export-include-directories{a}
  ros-galactic-ament-cmake-export-interfaces{a} ros-galactic-ament-cmake-export-libraries{a} ros-galactic-ament-cmake-export-link-flags{a} ros-galactic-ament-cmake-export-targets{a}
  ros-galactic-ament-cmake-flake8{a} ros-galactic-ament-cmake-gmock{a} ros-galactic-ament-cmake-gtest{a} ros-galactic-ament-cmake-include-directories{a} ros-galactic-ament-cmake-libraries{a}
  ros-galactic-ament-cmake-lint-cmake{a} ros-galactic-ament-cmake-pep257{a} ros-galactic-ament-cmake-pytest{a} ros-galactic-ament-cmake-python{a} ros-galactic-ament-cmake-ros{a}
  ros-galactic-ament-cmake-target-dependencies{a} ros-galactic-ament-cmake-test{a} ros-galactic-ament-cmake-uncrustify{a} ros-galactic-ament-cmake-version{a} ros-galactic-ament-cmake-xmllint{a}
  ros-galactic-ament-copyright{a} ros-galactic-ament-cppcheck{a} ros-galactic-ament-cpplint{a} ros-galactic-ament-flake8{a} ros-galactic-ament-index-cpp{a} ros-galactic-ament-index-python{a}
  ros-galactic-ament-lint{a} ros-galactic-ament-lint-auto{a} ros-galactic-ament-lint-cmake{a} ros-galactic-ament-lint-common{a} ros-galactic-ament-package{a} ros-galactic-ament-pep257{a}
  ros-galactic-ament-uncrustify{a} ros-galactic-ament-xmllint{a} ros-galactic-builtin-interfaces{a} ros-galactic-class-loader{a} ros-galactic-common-interfaces{a}
  ros-galactic-composition-interfaces{a} ros-galactic-console-bridge-vendor{a} ros-galactic-cyclonedds{a} ros-galactic-diagnostic-msgs{a} ros-galactic-domain-coordinator{a}
  ros-galactic-eigen3-cmake-module{a} ros-galactic-fastcdr{a} ros-galactic-geometry-msgs{a} ros-galactic-geometry2{a} ros-galactic-gmock-vendor{a} ros-galactic-gtest-vendor{a}
  ros-galactic-iceoryx-binding-c{a} ros-galactic-iceoryx-posh{a} ros-galactic-iceoryx-utils{a} ros-galactic-kdl-parser{a} ros-galactic-launch{a} ros-galactic-launch-ros{a}
  ros-galactic-launch-testing{a} ros-galactic-launch-testing-ament-cmake{a} ros-galactic-launch-testing-ros{a} ros-galactic-launch-xml{a} ros-galactic-launch-yaml{a}
  ros-galactic-libstatistics-collector{a} ros-galactic-libyaml-vendor{a} ros-galactic-lifecycle-msgs{a} ros-galactic-message-filters{a} ros-galactic-nav-msgs{a} ros-galactic-orocos-kdl{a}
  ros-galactic-osrf-pycommon{a} ros-galactic-pluginlib{a} ros-galactic-pybind11-vendor{a} ros-galactic-python-cmake-module{a} ros-galactic-rcl{a} ros-galactic-rcl-action{a}
  ros-galactic-rcl-interfaces{a} ros-galactic-rcl-lifecycle{a} ros-galactic-rcl-logging-interface{a} ros-galactic-rcl-logging-spdlog{a} ros-galactic-rcl-yaml-param-parser{a}
  ros-galactic-rclcpp{a} ros-galactic-rclcpp-action{a} ros-galactic-rclcpp-components{a} ros-galactic-rclcpp-lifecycle{a} ros-galactic-rclpy{a} ros-galactic-rcpputils{a} ros-galactic-rcutils{a}
  ros-galactic-rmw{a} ros-galactic-rmw-cyclonedds-cpp{a} ros-galactic-rmw-dds-common{a} ros-galactic-rmw-implementation{a} ros-galactic-rmw-implementation-cmake{a}
  ros-galactic-robot-state-publisher{a} ros-galactic-ros-base ros-galactic-ros-core{a} ros-galactic-ros-environment{a} ros-galactic-ros-workspace{a} ros-galactic-ros2action{a}
  ros-galactic-ros2bag{a} ros-galactic-ros2cli{a} ros-galactic-ros2cli-common-extensions{a} ros-galactic-ros2component{a} ros-galactic-ros2doctor{a} ros-galactic-ros2interface{a}
  ros-galactic-ros2launch{a} ros-galactic-ros2lifecycle{a} ros-galactic-ros2multicast{a} ros-galactic-ros2node{a} ros-galactic-ros2param{a} ros-galactic-ros2pkg{a} ros-galactic-ros2run{a}
  ros-galactic-ros2service{a} ros-galactic-ros2topic{a} ros-galactic-rosbag2{a} ros-galactic-rosbag2-compression{a} ros-galactic-rosbag2-compression-zstd{a} ros-galactic-rosbag2-cpp{a}
  ros-galactic-rosbag2-interfaces{a} ros-galactic-rosbag2-py{a} ros-galactic-rosbag2-storage{a} ros-galactic-rosbag2-storage-default-plugins{a} ros-galactic-rosbag2-transport{a}
  ros-galactic-rosgraph-msgs{a} ros-galactic-rosidl-adapter{a} ros-galactic-rosidl-cli{a} ros-galactic-rosidl-cmake{a} ros-galactic-rosidl-default-generators{a}
  ros-galactic-rosidl-default-runtime{a} ros-galactic-rosidl-generator-c{a} ros-galactic-rosidl-generator-cpp{a} ros-galactic-rosidl-generator-py{a} ros-galactic-rosidl-parser{a}
  ros-galactic-rosidl-runtime-c{a} ros-galactic-rosidl-runtime-cpp{a} ros-galactic-rosidl-runtime-py{a} ros-galactic-rosidl-typesupport-c{a} ros-galactic-rosidl-typesupport-cpp{a}
  ros-galactic-rosidl-typesupport-interface{a} ros-galactic-rosidl-typesupport-introspection-c{a} ros-galactic-rosidl-typesupport-introspection-cpp{a} ros-galactic-rpyutils{a}
  ros-galactic-sensor-msgs{a} ros-galactic-shape-msgs{a} ros-galactic-shared-queues-vendor{a} ros-galactic-spdlog-vendor{a} ros-galactic-sqlite3-vendor{a} ros-galactic-sros2{a}
  ros-galactic-sros2-cmake{a} ros-galactic-statistics-msgs{a} ros-galactic-std-msgs{a} ros-galactic-std-srvs{a} ros-galactic-stereo-msgs{a} ros-galactic-tf2{a} ros-galactic-tf2-bullet{a}
  ros-galactic-tf2-eigen{a} ros-galactic-tf2-eigen-kdl{a} ros-galactic-tf2-geometry-msgs{a} ros-galactic-tf2-kdl{a} ros-galactic-tf2-msgs{a} ros-galactic-tf2-py{a} ros-galactic-tf2-ros{a}
  ros-galactic-tf2-ros-py{a} ros-galactic-tf2-sensor-msgs{a} ros-galactic-tf2-tools{a} ros-galactic-tinyxml-vendor{a} ros-galactic-tinyxml2-vendor{a} ros-galactic-tracetools{a}
  ros-galactic-trajectory-msgs{a} ros-galactic-uncrustify-vendor{a} ros-galactic-unique-identifier-msgs{a} ros-galactic-urdf{a} ros-galactic-urdf-parser-plugin{a} ros-galactic-urdfdom{a}
  ros-galactic-urdfdom-headers{a} ros-galactic-visualization-msgs{a} ros-galactic-yaml-cpp-vendor{a} ros-galactic-zstd-vendor{a} uncrustify{a} zlib1g-dev{a}
0 packages upgraded, 272 newly installed, 0 to remove and 0 not upgraded.
Need to get 44.2 MB of archives. After unpacking 250 MB will be used.
The following packages have unmet dependencies:
 libc6-dev : Depends: libc6 (= 2.31-0ubuntu9.2) but 2.31-0ubuntu9.3 is installed
The following actions will resolve these dependencies:

      Keep the following packages at their current version:
1)      libacl1-dev [Not Installed]
2)      libattr1-dev [Not Installed]
……
93)     ros-galactic-visualization-msgs [Not Installed]
94)     zlib1g-dev [Not Installed]

      Leave the following dependencies unresolved:
95)     libpython3.8-dev recommends libc6-dev | libc-dev
96)     python3.8-dev recommends libc6-dev | libc-dev



Accept this solution? [Y/n/q/?] n
The following actions will resolve these dependencies:

最后再安装desktop

TWR:~$ sudo aptitude install ros-galactic-desktop
The following NEW packages will be installed:
  cython3{a} default-libmysqlclient-dev{a} freeglut3{a} gcc-7-base{a} gdal-data{a} hdf5-helpers{a} i965-va-driver{a}
  ibverbs-providers{a} icu-devtools{a} intel-media-va-driver{a} javascript-common{a} libaacs0{a} libaec-dev{a} libaec0{a}
  libaom0{a} libarmadillo-dev{a} libarmadillo9{a} libarpack2{a} libarpack2-dev{a} libasan4{a} libasound2-dev{a}
  libassimp-dev{a} libassimp5{a} libavcodec-dev{a} libavcodec58{a} libavformat-dev{a} libavformat58{a}
  libavresample-dev{a} libavresample4{a} libavutil-dev{a} libavutil56{a} libbdplus0{a} libblas-dev{a} libblkid-dev{a}
  libbluray2{a} libboost-all-dev{a} libboost-atomic-dev{a} libboost-atomic1.71-dev{a} libboost-atomic1.71.0{a}
  libboost-chrono-dev{a} libboost-chrono1.71-dev{a} libboost-chrono1.71.0{a} libboost-container-dev{a}
  libboost-container1.71-dev{a} libboost-container1.71.0{a} libboost-context-dev{a} libboost-context1.71-dev{a}
  libboost-context1.71.0{a} libboost-coroutine-dev{a} libboost-coroutine1.71-dev{a} libboost-coroutine1.71.0{a}
  libboost-date-time-dev{a} libboost-date-time1.71-dev{a} libboost-dev{a} libboost-exception-dev{a}
  libboost-exception1.71-dev{a} libboost-fiber-dev{a} libboost-fiber1.71-dev{a} libboost-fiber1.71.0{a}
  libboost-filesystem-dev{a} libboost-filesystem1.71-dev{a} libboost-graph-dev{a} libboost-graph-parallel-dev{a}
  libboost-graph-parallel1.71-dev{a} libboost-graph-parallel1.71.0{a} libboost-graph1.71-dev{a} libboost-graph1.71.0{a}
  libboost-iostreams-dev{a} libboost-iostreams1.71-dev{a} libboost-locale-dev{a} libboost-locale1.71-dev{a}
  libboost-log-dev{a} libboost-log1.71-dev{a} libboost-log1.71.0{a} libboost-math-dev{a} libboost-math1.71-dev{a}
  libboost-math1.71.0{a} libboost-mpi-dev{a} libboost-mpi-python-dev{a} libboost-mpi-python1.71-dev{a}
  libboost-mpi-python1.71.0{a} libboost-mpi1.71-dev{a} libboost-mpi1.71.0{a} libboost-numpy-dev{a}
  libboost-numpy1.71-dev{a} libboost-numpy1.71.0{a} libboost-program-options-dev{a} libboost-program-options1.71-dev{a}
  libboost-program-options1.71.0{a} libboost-python-dev{a} libboost-python1.71-dev{a} libboost-python1.71.0{a}
  libboost-random-dev{a} libboost-random1.71-dev{a} libboost-random1.71.0{a} libboost-regex-dev{a}
  libboost-regex1.71-dev{a} libboost-regex1.71.0{a} libboost-serialization-dev{a} libboost-serialization1.71-dev{a}
  libboost-serialization1.71.0{a} libboost-stacktrace-dev{a} libboost-stacktrace1.71-dev{a} libboost-stacktrace1.71.0{a}
  libboost-system-dev{a} libboost-system1.71-dev{a} libboost-system1.71.0{a} libboost-test-dev{a} libboost-test1.71-dev{a}
  libboost-test1.71.0{a} libboost-thread-dev{a} libboost-thread1.71-dev{a} libboost-timer-dev{a} libboost-timer1.71-dev{a}
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0 packages upgraded, 630 newly installed, 0 to remove and 0 not upgraded.
Need to get 350 MB of archives. After unpacking 2,021 MB will be used.
The following packages have unmet dependencies:
 libcurl4-gnutls-dev : Conflicts: libcurl4-openssl-dev but 7.68.0-1ubuntu2.5 is to be installed
 libcurl4-openssl-dev : Conflicts: libcurl4-gnutls-dev but 7.68.0-1ubuntu2.5 is to be installed
The following actions will resolve these dependencies:

     Keep the following packages at their current version:
1)     libcurl4-gnutls-dev [Not Installed]



Accept this solution? [Y/n/q/?] Y
The following NEW packages will be installed:
  cython3{a} default-libmysqlclient-dev{a} freeglut3{a} gcc-7-base{a} gdal-data{a} hdf5-helpers{a} i965-va-driver{a}
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  ……
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  ros-galactic-examples-rclcpp-minimal-service{a} ros-galactic-examples-rclcpp-minimal-subscriber{a}
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  ros-galactic-image-transport{a} ros-galactic-interactive-markers{a} ros-galactic-intra-process-demo{a}
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  ros-galactic-logging-demo{a} ros-galactic-map-msgs{a} ros-galactic-pcl-conversions{a} ros-galactic-pcl-msgs{a}
  ros-galactic-pendulum-control{a} ros-galactic-pendulum-msgs{a} ros-galactic-python-qt-binding{a}
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  ros-galactic-rviz-rendering{a} ros-galactic-rviz2{a} ros-galactic-sdl2-vendor{a} ros-galactic-tango-icons-vendor{a}
  ros-galactic-teleop-twist-joy{a} ros-galactic-teleop-twist-keyboard{a} ros-galactic-tlsf{a} ros-galactic-tlsf-cpp{a}
  ros-galactic-topic-monitor{a} ros-galactic-turtlesim{a} shiboken2{a} sip-dev{a} tcl-dev{a} tcl-vtk7{a} tcl8.6-dev{a}
  tk-dev{a} tk8.6-dev{a} unixodbc-dev{a} uuid-dev{a} va-driver-all{a} vdpau-driver-all{a} vtk7{a} x11proto-core-dev{a}
  x11proto-dev{a} x11proto-input-dev{a} x11proto-randr-dev{a} x11proto-scrnsaver-dev{a} x11proto-xext-dev{a}
  x11proto-xf86vidmode-dev{a} x11proto-xinerama-dev{a} xorg-sgml-doctools{a} xtrans-dev{a}
0 packages upgraded, 629 newly installed, 0 to remove and 0 not upgraded.
Need to get 350 MB of archives. After unpacking 2,019 MB will be used.
Do you want to continue? [Y/n/?] Y
Get: 1 http://mirrors.ustc.edu.cn/ubuntu focal/universe amd64 libqt5positioning5 amd64 5.12.8+dfsg-0ubuntu1 [197 kB]
Get: 2 http://mirrors.ustc.edu.cn/ubuntu focal/universe amd64 libqt5printsupport5 amd64 5.12.8+dfsg-0ubuntu1 [193 kB]
Get: 3 http://mirrors.ustc.edu.cn/ubuntu focal/universe amd64 libqt5qml5 amd64 5.12.8-0ubuntu1 [1,438 kB]
……
Get: 628 http://packages.ros.org/ros2/ubuntu focal/main amd64 ros-galactic-teleop-twist-keyboard amd64 2.3.2-3focal.20210521.01                                                                       2846 [7,220 B]
Get: 629 http://packages.ros.org/ros2/ubuntu focal/main amd64 ros-galactic-topic-monitor amd64 0.14.3-1focal.20210521.021623 [1                                                                       6.1 kB]
Get: 630 http://packages.ros.org/ros2/ubuntu focal/main amd64 ros-galactic-turtlesim amd64 1.3.3-1focal.20210521.071633 [411 kB                                                                       ]
Get: 631 http://packages.ros.org/ros2/ubuntu focal/main amd64 ros-galactic-desktop amd64 0.9.3-2focal.20210521.072032 [6,220 B]
Fetched 349 MB in 5min 25s (1,074 kB/s)
Extracting templates from packages: 100%
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