给树莓派安装Ubuntu mate（20.04LTS）并安装ROS(noetic)

1.准备好基础的硬件设施，然后去下载Ubuntu mate的镜像Ubuntu mate并烧录

PS：来自2022/7/8的我对曾经帖子的吐槽，当时不知道装ROS有小鱼的一键安装，如果安装到ROS那一步很难继续的话可以去小鱼的网站看一下：鱼香ROS

或者直接输入如下指令解决

wget http://fishros.com/install -O fishros && . fishros

栓Q

2.开机过后可以自行配置一下需要安装的库

sudo apt-get update
sudo apt-get upgrade
sudo apt-get install gedit
sudo apt-get install vim
sudo apt-get install python
sudo apt-get install python-pip

有了pip下载之后就可以切换到清华源下载了（xxx为你要下载的库）

pip install -i https://pypi.tuna.tsinghua.edu.cn/simple xxx

比如我习惯性安装下面这些库

pip install -i https://pypi.tuna.tsinghua.edu.cn/simple matplotlib
pip install -i https://pypi.tuna.tsinghua.edu.cn/simple numpy
pip install -i https://pypi.tuna.tsinghua.edu.cn/simple python-opencv
pip install -i https://pypi.tuna.tsinghua.edu.cn/simple python-contrib

2.开始准备安装ROS

1.设置源输入:

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

2.输入密钥:

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

3.更新和安装ROS-noetic桌面输入:

sudo apt update
sudo apt upgrade
sudo apt install ros-noetic-desktop-full

如果最后一步出现错误输入：

sudo apt install ros-noetic-desktop-full --fix-missing

4.初始化rosdep

输入：

sudo rosdep init

(1)如果出现错误提示：sudo: rosdep:command not found

输入：

sudo apt install rospack-tools
sudo rosdep init

(2)如果出现错误提示：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.

输入：

sudo gedit /etc/apt/hosts

此时会打开hosts文件，在下一行添加：

151.101.84.133 raw.githubusercontent.com
#或者是151.101.76.133 raw.githubusercontent.com
#保存退出之后再试试

如果还是报这个错那就多试几次或者去这个网站https://www.ipaddress.com查他的最新IP，然后把添加的内容改一下。

要是中途碰到点啥问题看下这位老哥的文章Ubuntu20.04系统安装ROS完整教程

5.更新rosdep

输入：

rosdep update

(1)如果出现超时的错误输入：（路径的python那一级有可能有问题自己多留意）

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

此时会打开gbpdistro_support.py找到这一行：“DOWNLOAD_TIMEOUT = 15.0”把里面的15.0改为50.0

点击保存后退出

如果还是出点什么问题看一下这位老哥的文章rosdep update出错解决办法

不过在他文章里面的最后一步我推荐全部都加上代理即：

# os-specific listings first
yaml https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx

# generic
yaml https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
yaml https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
yaml https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
gbpdistro https://ghproxy.com/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

然后输入：

rosdep update

如果继续报错就多试几次、换个DNS、用手机流量热点试试或者用魔法上网

成功会显示：

reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit file:///etc/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit file:///etc/ros/rosdistro/master/rosdep/base.yaml
Hit file:///etc/ros/rosdistro/master/rosdep/python.yaml
Hit file:///etc/ros/rosdistro/master/rosdep/ruby.yaml
Hit file:///etc/ros/rosdistro/master/releases/fuerte.yaml
Query rosdistro index file:///etc/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"
Add 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"
updated cache in /home/xxxx/.ros/rosdep/sources.cache

6.设置环境变量

首先改一下配置文件：

sudo gedit .bashrc

再里面将最后几段改为

source /opt/ros/noetic/setup.bash
source /opt/ros/noetic/setup.bash
source /opt/ros/noetic/setup.bash
source /opt/ros/noetic/setup.bash
source /opt/ros/noetic/setup.bash
source /opt/ros/noetic/setup.bash
source /opt/ros/noetic/setup.bash
source /opt/ros/noetic/setup.sh
source /opt/ros/noetic/setup.bash
source /opt/ros/noetic/setup.bash
#保存后退出

然后输入：

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

7.安装软件包的依赖关系

输入：

sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential
source /opt/ros/noetic/setup.bas

8.校验ROS是否正常运行

(1)打开一个终端输入：

roscore

(2)另外打开一个终端输入：

rosrun turtlesim turtlesim_node

(3)再另外打开一个终端输入：

rosrun turtlesim turtle_teleop_key

(4)点击最后打开的一个终端使用方向键看小乌龟会不会跟着动