TX2 ubuntu18.04安装ros-melodic过程记录

ros官方的指导文件

主流程还是得看官方流程
http://wiki.ros.org/melodic/Installation/Ubuntu

问题记录

1,sudo apt update 无法更新

尝试了网上很多源，都没有成功，最后找到一个可以更新成功的源，不知道是不是偶然，记录一下，如果你也碰到了类似错误，尝试一下：
备份原来的源文件：sudo cp /etc/apt/source.list /etc/apt/source.list_bak
修改/etc/apt/source.list

# 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-security main restricted universe multiverse

换上这个源，本机就可以更新成功来，不会出现类似下列的错误

E: Failed to fetch http://mirrors.aliyun.com/ubuntu/dists/bionic/main/binary-arm64/Packages  404  Not Found [IP: 113.142.77.244 80]

2,添加密钥出现链接不上服务器

这里采用的是文档中的备选方案

curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | sudo apt-key add -

但是这里我们要安装工具：

sudo apt install curl

最后成功的话，会显示一个ok

3,sudo rosdep init出现链接不上

试试这个网址：链接
网页能打开https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
实质就是下载这个文件 /etc/ros/rosdep/source.list.d/gedit 20-default.list文件夹

cd /etc/ros/rosdep/source.list.d/gedit 20-default.list
sudo gedit 20-default.list

# os-specific listings first
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx

# generic
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
gbpdistro https://raw.githubusercontent.com/ros/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

方法：
1,我们先在终端中尝试ping 这个链接不上的网址

ping raw.githubusercontent.com

会得到：

64 bytes from raw.githubusercontent.com (199.232.28.133): icmp_seq=1 ttl=51 time=212 ms
64 bytes from raw.githubusercontent.com (199.232.28.133): icmp_seq=2 ttl=51 time=211 ms
64 bytes from raw.githubusercontent.com (199.232.28.133): icmp_seq=3 ttl=51 time=211 ms
64 bytes from raw.githubusercontent.com (199.232.28.133): icmp_seq=4 ttl=51 time=236 ms

2,我们把

199.232.28.133  raw.githubusercontent.com

加到 /etc/hosts文件中去
注意：我们也可以把ping raw.github.com 的结果也写道/etc/hosts中,可能有关系吧，没有去验证

151.101.228.133  raw.github.com

3,修改/etc/hosts后，我们重启下电脑，在开机后，请立即执行

sudo apt update
sudo rosdep init

4,sudo rosdep update出现超时

错误

urlopen error timed out

1,重启电脑，开机立即：

sudo apt update
sudo rosdep update

应该问题不大，如果还出现超时显现，尝试以下操作，但是修改完后，建议重启，开机立即执行上述命令，（为什么要开机立即执行，这个别人告诉的经验，估计是重启联网后台还没有来得及更新）
操作一：更改超时时间，重启后立即操作1中命令
https://blog.csdn.net/qq_38649880/article/details/87903654

还不行，操作二

ping raw.githubsercontent.com

添加

103.224.212.222 raw.githubsercontent.com

到/etc/hosts中，重启，开机立即执行上述更新操作，不行可以多执行几次，开机更新哦