ros版本的相互切换

关于本地源安装

ros1和ros2采取清华镜像以后，rosdep update经常出现失败，终极解决办法是把update中需要访问的资源下载到本地，再访问。
参考https://zhuanlan.zhihu.com/p/365183222
为了防止文章链接失联，这里针对要点再罗列一下

1. git clone https://github.com/ros/rosdistro.git 把rosdistro clone到本地如/home/yourname/
2. 修改文件
   cd /home/yourname/rosdistro/rosdep/sources.list.d/
sudo gedit 20-default.list
   替换成以下内容

# 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

3. 修改文件

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

替换
FUERTE_GBPDISTRO_URL = 'file:///home/yourname/rosdistro/' \ 'releases/fuerte.yaml'

4. 修改文件

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

替换
FUERTE_GBPDISTRO_URL = 'file:///home/yourname/rosdistro/' \ 'releases/fuerte.yaml'

5. 修改文件

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

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

6. ros init的等价修改形式
   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

切换

以ubuntu20为例，分别安装完ros noetic和foxy版本，打开一个terminal

1. source /opt/ros/noetic/setup.bash
2. rosdep update
3. printenv | grep -i ROS

打开一个新的terminal

1. source /opt/ros/foxy/setup.bash
2. rosdep update
3. printenv | grep -i ROS