ROSDEP UPDATE ROSDEP INIT解决方法

【机器人研习社-ROS专辑】ROSDEP UPDATE&ROSDEP INIT 问题的各种解决方法

最近新安装ROS，卡在rosdep update和rosdep init 上很久，以前的方法各种失效，各种尝试后终于解决了，在这里分享给大家。

操作系统：Ubuntu16.04/Ubuntu18.04/Ubuntu20.04
ROS版本：kinetic/melodic/noetic

1. rosdep init问题

首先打开一个终端

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

将以下内容复制进20-default.list文件中

# 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
# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead

执行以下指令 rosdep update（一般会失败，请继续看下文

2. rosdep update 问题

方案1：https://ghproxy.com /代理模式

方案2：本地模式-将rosdistro clone到本地

最近在国内上github越来越难，国内https://raw.githubusercontent.com的可用IP越来越少，通过修改hosts文件解决rosdep update超时问题的方法已经没法再用。

操作系统：

->Ubuntu16.04/Ubuntu18.04/Ubuntu20.04
-> ROS版本：kinetic/melodic/noetic

Error

ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml]:
  Failed to download target platform data for gbpdistro:
  The read operation timed out
Query rosdistro index https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml

updated cache in /home/ricky/.ros/rosdep/sources.cache
ERROR: Not all sources were able to be updated.

方案1：

网站https://ghproxy.com/支持github的资源代理，非常好用，我们将用此代理加速rosdep对Github Raw的访问，进而解决rosdep update超时问题。

如果是ROS Noetic路径为python3，

cd /usr/lib/python3/dist-packages/rosdep2/

如果是老版本在python2.7

cd /usr/lib/python2.7/dist-packages/rosdep2/

(1)首先定位rosdep资源下载函数。从报错信息中得知，该函数名为download_rosdep_data，位于/usr/lib/python23/dist-packages/rosdep2/sources_list.py(本文以Python3 为例)。

sudo gedit /usr/lib/python3/dist-packages/rosdep2/sources_list.py

我们修改这一函数，添加：

url="https://ghproxy.com/"+url

如下
————————————————

def download_rosdep_data(url):
    """
    :raises: :exc:`DownloadFailure` If data cannot be
        retrieved (e.g. 404, bad YAML format, server down).
    """
    try:
        # http/https URLs need custom requests to specify the user-agent, since some repositories reject
        # requests from the default user-agent.
        url="https://ghproxy.com/"+url
        if url.startswith("http://") or url.startswith("https://"):
            url_request = request.Request(url, headers={'User-Agent': 'rosdep/{version}'.format(version=__version__)})
        else:
            url_request = url


        f = urlopen(url_request, timeout=DOWNLOAD_TIMEOUT)
        text = f.read()
        f.close()
        data = yaml.safe_load(text)
        if type(data) != dict:
            raise DownloadFailure('rosdep data from [%s] is not a YAML dictionary' % (url))
        return data
    except (URLError, httplib.HTTPException) as e:
        raise DownloadFailure(str(e) + ' (%s)' % url)
    except yaml.YAMLError as e:
        raise DownloadFailure(str(e))


(2)在/usr/lib/python3/dist-packages/rosdep2/gbpdistro_support.py 第204行添加如下代码

gbpdistro_url = "https://ghproxy.com/" + gbpdistro_url

(3)用同样的方法修改/usr/lib/python3/dist-packages/rosdistro/__init__.py里面的DEFAULT_INDEX_URL。

sudo gedit /usr/lib/python3/dist-packages/rosdistro/__init__.py

即将DEFAULT_INDEX_URL 进行如下替换：

DEFAULT_INDEX_URL = 'https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml'

除此处外，下述文件中也含有github地址，分别是

/usr/lib/python2.7/dist-packages/rosdep2/gbpdistro_support.py 36行
/usr/lib/python2.7/dist-packages/rosdep2/sources_list.py 72行
/usr/lib/python2.7/dist-packages/rosdep2/rep3.py    39行
/usr/lib/python2.7/dist-packages/rosdistro/manifest_provider/github.py 68行,118行

均可通过在地址前添加

https://ghproxy.com/

前缀来应用代理服务。

再次尝试执行rosdep update，大功告成！

rosdep update

reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
Query rosdistro index https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml
Skip end-of-life distro "ardent"
Skip end-of-life distro "bouncy"
Skip end-of-life distro "crystal"
Add distro "dashing"
Skip end-of-life distro "eloquent"
Add distro "foxy"
Add distro "galactic"
Skip end-of-life distro "groovy"
Skip end-of-life distro "hydro"
Skip end-of-life distro "indigo"
Skip end-of-life distro "jade"
Skip end-of-life distro "kinetic"
Skip end-of-life distro "lunar"
Add distro "melodic"
Add distro "noetic"
Add distro "rolling"
updated cache in /home/ricky/.ros/rosdep/sources.cache

方案2：

raw.githubusercontent.com实际上就是github的用户数据服务器，rosdep程序下载的就是github.com/ros/rosdistro这个repo里的yaml文件。

虽然raw.githubusercontent.com服务器无法访问，但是yaml文件可以直接从git clone的repo中获得。


思路：

将ros/rosdistro整个git下来，然后再将
•20-default.list
•/usr/lib/python2.7/dist-packages/rosdep2/gbpdistro_support.py
•/usr/lib/python2.7/dist-packages/rosdep2/rep3.py
•/usr/lib/python2.7/dist-packages/rosdistro/init.py

中的默认url全部指向本地的git，即可解决这个问题。

具体步骤
第一步:

将rosdistro clone到本地

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

PS-以下的所有yourname 都改成你们自己的用户名

默认会在home/yourname/下出现一个rosdistro文件夹(yourname是你的用户名)

终端打开刚刚下载(clone)下来的rosdistro文件夹

第二步：

    文件1

打开文件将里面的http://raw.githubusercontent.com改成文件路径的形式

cd /home/yourname/rosdistro/rosdep/sources.list.d/
sudo gedit 20-default.list

如下：

注意如果你手动把URL改为file路径，需要删除默认URL路径中的/master/，而不是简单的把https://raw.githubusercontent.com/ros 替换为  file:///home/yourname

 #os-specific listings first
yaml file:///home/yourname/rosdistro/rosdep/osx-homebrew.yaml osx
#generic
yaml file:///home/yourname/rosdistro/rosdep/base.yaml
yaml file:///home/yourname/rosdistro/rosdep/python.yaml
yaml file:///home/yourname/rosdistro/rosdep/ruby.yaml
gbpdistro file:///home/yourname/rosdistro/releases/fuerte.yaml

文件2

如果是ROS Noetic路径为python3， 如果是老版本在python2.7

cd /usr/lib/python3/dist-packages/rosdep2/
sudo gedit gbpdistro_support.py

同样替换

FUERTE_GBPDISTRO_URL = ‘file:///home/yourname/rosdistro/’
‘releases/fuerte.yaml’

sudo gedit /usr/lib/python3/dist-packages/rosdep2/rep3.py

同样替换

REP3_TARGETS_URL = ‘file:///home/yourname/rosdistro/releases/targets.yaml’

sudo gedit /usr/lib/python3/dist-packages/rosdistro/__init__.py

同样替换

cd DEFAULT_INDEX_URL = 'file:///home/yourname/rosdistro/index-v4.yaml'

第三步：
如果你已经使用了sudo rosdep init：

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

如果提示文件不存在，创建这个文件之后再使用上面的命令行

sudo mkdir -p /etc/ros/rosdep/sources.list.d

将下面的内容复制到文件并且保存

#os-specific listings first
yaml file:///home/yourname/rosdistro/rosdep/osx-homebrew.yaml osx
#generic
yaml file:///home/yourname/rosdistro/rosdep/base.yaml
yaml file:///home/yourname/rosdistro/rosdep/python.yaml
yaml file:///home/yourname/rosdistro/rosdep/ruby.yaml
gbpdistro file:///home/yourname/rosdistro/releases/fuerte.yaml fuerte
#newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead

最后

rosdep update

结果如下:

reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit file:///home/yolo/rosdistro/rosdep/osx-homebrew.yaml
Hit file:///home/yolo/rosdistro/rosdep/base.yaml
Hit file:///home/yolo/rosdistro/rosdep/python.yaml
Hit file:///home/yolo/rosdistro/rosdep/ruby.yaml
Hit file:///home/yolo/rosdistro/releases/fuerte.yaml
Query rosdistro index file:///home/yolo/rosdistro/index-v4.yaml
Skip end-of-life distro "ardent"
Skip end-of-life distro "bouncy"
Skip end-of-life distro "crystal"
Add distro "dashing"
Skip end-of-life distro "eloquent"
Add distro "foxy"
Skip end-of-life distro "groovy"
Skip end-of-life distro "hydro"
Skip end-of-life distro "indigo"
Skip end-of-life distro "jade"
Add distro "kinetic"
Skip end-of-life distro "lunar"
Add distro "melodic"
Add distro "noetic"
Add distro "rolling"
updated cache in /home/yolo/.ros/rosdep/sources.cache

参考链接：

https://blog.csdn.net/leida_wt/article/details/115120940

https://blog.csdn.net/leida_wt/article/details/115120940

如果gitclone太慢，可以采用如下方法

``
git clone

git clone https://ghproxy.com/https://github.com/stilleshan/ServerStatus
wget & curl

wget https://ghproxy.com/https://github.com/stilleshan/ServerStatus/archive/master.zip
wget https://ghproxy.com/https://raw.githubusercontent.com/stilleshan/ServerStatus/master/Dockerfile
curl -O https://ghproxy.com/https://github.com/stilleshan/ServerStatus/archive/master.zip
curl -O https://ghproxy.com/https://raw.githubusercontent.com/stilleshan/ServerStatus/master/Dockerfile

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