Ubuntu 18.04 安装 ROS melodic 流程（遇到问题及解决）

1.安装源与密钥

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'

sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

2.更新软件包列表

sudo apt-get update

3.安装ros melodic

sudo apt-get install ros-melodic-desktop-full

4.安装rosdep工具

sudo apt install python-rosdep

5.rosdep初始化

sudo rosdep init

此处可能遇到的问题：

1.website may be down

sudo gedit /etc/hosts

在文件末尾添加raw.githubusercontent.com的域名

199.232.28.133 raw.githubusercontent.com

2.time out

将超时时间阈值DOWNLOAD_TIMEOUT设置大一些，打开以下三个文件，打开后ctrl+F

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

6.rosdep更新

rosdep update

不成功，超时等问题

把配置文件下载到本地，直接调用本地文件

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

修改上一步生成的20-default.list文件，来源改为本地文件

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

yaml file://your path/rosdistro/rosdep/osx-homebrew.yaml osx
yaml file://your path/rosdistro/rosdep/base.yaml
yaml file://your path/rosdistro/rosdep/python.yaml
yaml file://your path/rosdistro/rosdep/ruby.yaml
gbpdistro file://your path/rosdistro/releases/fuerte.yaml fuerte

把上述的your path改为之前rosdistro你安装的路径，通常在/home/xx/下

7.ros添加环境变量

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

8.安装rosinstall

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

9.安装完成，测试是否安装成功

终端一

roscore

终端二

rosrun turtlesim turtlesim_node

出现小海龟

终端三

rosrun turtlesim turtle_teleop_key

可以控制小海龟移动