Ubuntu18.04完美安装ROS melodic

Ubuntu18.04完美安装ROS melodic

1、换源

建议更换到阿里源，按照官方教程即可。

2、源安装

参考官网教程
参考<抚琴弹出情调零博主>

1、设置软件源

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'

2、设置密钥
当前官网：

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

备用:

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654

3、开始安装

sudo apt update
sudo apt install ros-melodic-desktop-full
##  sudo apt-get install ros-melodic-rqt*

4、配置环境

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

5、安装依赖

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

6、初始化rosdep

sudo apt install python-rosdep
sudo rosdep init
rosdep update

sudo rosdep init 报错：可能网址损坏，解决办法：

#打开hosts文件
sudo gedit /etc/hosts
#在文件末尾添加
151.101.84.133  raw.githubusercontent.com
#保存后退出再尝试

7、安装rosinstall

sudo apt-get install python-rosinstall

8、加载环境设置

source /opt/ros/melodic/setup.bash

9、创建并初始化工作目录

mkdir -p ~/catkin_ws/src
 
cd ~/catkin_ws/src
 
catkin_init_workspace

目前，只有src目录和CMakeLists.txt文件在catkin工作目录中，使用catkin_make命令来构建，

cd ~/catkin_ws/
 
catkin_make

10、设置环境变量

sudo apt install net-tools
gedit ~/.bashrc

# Set ROS melodic
source /opt/ros/melodic/setup.bash
source ~/catkin_ws/devel/setup.bash
 
# Set ROS Network
#ifconfig查看你的电脑ip地址
export ROS_HOSTNAME=192.168.89.135
export ROS_MASTER_URI=http://${ROS_HOSTNAME}:11311
 
# Set ROS alias command 快捷指令
alias cw='cd ~/catkin_ws'
alias cs='cd ~/catkin_ws/src'
alias cm='cd ~/catkin_ws && catkin_make'

11、小海龟测试(分别在三个终端执行下面三行指令)

roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key

附注：由于需要，我只运行到第六步就满足需要了，遇到小问题基本百度一下就解决，没什么大问题！