ubuntu18.04的ros安装

1. 设置ubuntu源

设置为清华源（自己系统中设置了也要输入一次）

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 添加密钥

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

3.安装ros

sudo apt-get update

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

4. 初始化ros

sudo rosdep init

输入

sudo apt install python-rosdep2

虽然再次输入 sudo rosdep init 还是会失败，但sudo apt install python-rosdep2后面还是要的

rosdep update

这是连接ros服务器（在国外），所以连不上，只能自己下载安装包进行安装

下载ros包

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

改变文件源地址

自己rosdistro的地址/home/jiahao/Desktop/git/ros/rosdistro
改的地址没有 master

文件1

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

REP3_TARGETS_URL =https://raw.githubusercontent.com/ros/rosdistro/master/releases/targets.yaml’ 改成
REP3_TARGETS_URL = 'file:///home/jiahao/Desktop/git/ros/rosdistro/releases/targets.yaml'

文件2

sudo gedit /usr/lib/python2.7/dist-packages/rosdistro/__init__.py

DEFAULT_INDEX_URL = ‘https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml’改成
DEFAULT_INDEX_URL = 'file:///home/jiahao/Desktop/git/ros/rosdistro/index-v4.yaml'

文件3

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

最后

rosdep update

成功

问题

1 ubuntu20 是python3
2.roscore 出现安装roslaunch，依赖找不到
https://blog.csdn.net/ljh5930/article/details/124679148

?

文件2(不用管）

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

DEFAULT_INDEX_URL ='https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml'改成
DEFAULT_INDEX_URL = 'file:///home/jiahao/Desktop/git/ros/rosdistro/index-v4.yaml'