ROS（1）安装

1. ros安装

• 安装过程参考https://www.cnblogs.com/letisl/p/11815191.html
• 安装wsl略，利用mobaxterm进行连接与可视化

1.1. 添加源

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'

1.2. 添加私钥

wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -
打不开则：
sudo apt-key adv --keyserver hkp://pool.sks-keyservers.net --recv-key 0xB01FA116

1.3. 更新软件列表

sudo apt-get update，会报GPG错误，解决办法是添加公钥：sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654

1.4. 安装ros

sudo apt-get install ros-melodic-desktop-full
安装目录在/opt/ros下。

1.5. 初始化

sudo rosdep init
rosdep update

1.5.1. 问题1

提示：sudo rosdep：找不到命令提示，执行下面指令：
sudo apt install python-rosdep

1.5.2. 问题2

提示：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.

• 根本解决办法：（国产镜像）https://blog.csdn.net/qq_44938606/article/details/120968180
• 解决办法1：
  打开https://site.ip138.com/raw.Githubusercontent.com/，输入raw.githubusercontent.com查询出一个可用的ip地址，然后在/etc/hosts文件最后添加：
  199.232.28.133 raw.githubusercontent.com
151.101.228.133 raw.github.com
  结果可能不行，此时参考方法2.
• 解决办法2：
  a.利用FQ特殊手段(可以直接拷贝此处的链接)，打开链接https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list，拷贝其中的内容：
  #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
  b.创建目录，新建文件20-default.list，将内容拷贝到文件中
  sudo mkdir -p /etc/ros/rosdep/sources.list.d
touch /etc/ros/rosdep/sources.list.d/20-default.list
  c.执行rosdep update

1.6. 环境变量配置

放到~/.bashrc文件最后
source /opt/ros/melodic/setup.bash
然后执行source ~/.bashrc

1.7. 安装rosinstall

sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
安装ros插件sudo apt install ros-melodic-jsk-rviz-plugins

1.8. 测试小乌龟

• 启动roscore roscore &
• rosrun turtlesim turtlesim_node

1.9. 测试rviz

rosrun rviz rviz，发现报段错误，需要将export LIBGL_ALWAYS_INDIRECT=添加到.bashrc文件最后。

1.10. 卸载ros

sudo apt-get remove ros-melodic-*

1.11. 注意注意

建议启动新的节点时，将roscore重启一下，防止莫名其妙的错误！！