Ubuntu18.04安装ROS Melodic

1. Ubuntu 18.04 LTS上添加安装源到source.list

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

2. 添加秘钥到本地的trusted数据库中并加以验证

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

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

3. 更新列表

sudo apt update

4. 安装ros依赖库

sudo apt install libvtk6-jni libvtk6-java libvtk6-dev libvtk6-qt-dev libpcl-dev
sudo apt install ros-melodic-pcl-conversions ros-melodic-pcl-ros ros-melodic-perception-pcl ros-melodic-perception

5. 开始安装ROS Melodic

sudo apt install ros-melodic-desktop-full

或者

sudo apt install ros-melodic-desktop

6. 安装核心组件rosdep

sudo apt install python-rosdep

sudo rosdep init

rosdep update

其它依赖

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

7. 配置环境变量

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

8. 创建ROS工作空间

mkdir -p ~/catkin_ws/src

cd ~/catkin_ws/

catkin_make

9. 测试小海龟，终端里输入

roscore

再开一个终端

rosrun turtlesim turtlesim_node

这是小海龟出来

再开一个终端

rosrun turtlesim turtle_teleop_key

可以方向键操控就成功了。

 

问题及解决：

1） ImportError: "from catkin_pkg.package import parse_package" failed: No module named 'catkin_pkg' Make sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH. CMake Error at /opt/ros/melodic/share/catkin/cmake/safe_execute_proces

终端里输入

dpkg -L python-catkin-pkg

python -V

查看依赖的和默认的python版本是否一致

如果不一致，则

conda install setuptools

pip install -U rosdep rosinstall_generator wstool

之后就OK了。

也可以修改catkin_make的python版本指定

catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python2.7

就可以了。

 

2）apt get update出现ERR的问题

此类问题基本都是apt源的问题，需要更换apt源

sudo gedit /etc/apt/sources.list

国内好用的几个源如清华的 阿里的等，我实测清华源是OK的。

deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse

deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse

deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse

deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse

deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse

deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse

deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse

deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse

有时apt get update会出现ppa源的报错，这时需要删去对应的ppa

cd /etc/apt/sources.list.d/

查看是否有与报错ppa一致的，一般是两个，都删掉

sudo rm -i /etc/apt/sources.list.d/xxxx.list

sudo rm -i /etc/apt/sources.list.d/xxxx.list_save

之后重新 sudo apt-get update 就OK了。