ros_melodic安装简洁版

方法1：这是一键安装ros的简洁版，通过鱼香ROS公众号提供的方法很简单即可完成安装

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

方法2（不推荐）
1.更换国内的软件源，将文件替换成下列内容

sudo gedit /etc/apt/sources.list

替换的文字

# deb cdrom:[Ubuntu 18.04 LTS _Xenial Xerus_ - Release amd64 (20160420.1)]/ xenial main restricted
deb-src http://archive.ubuntu.com/ubuntu xenial main restricted #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial main restricted
deb-src http://mirrors.aliyun.com/ubuntu/ xenial main restricted multiverse universe #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted multiverse universe #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial universe
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates universe
deb http://mirrors.aliyun.com/ubuntu/ xenial multiverse
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates multiverse
deb http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse #Added by software-properties
deb http://archive.canonical.com/ubuntu xenial partner
deb-src http://archive.canonical.com/ubuntu xenial partner
deb http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted multiverse universe #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial-security universe
deb http://mirrors.aliyun.com/ubuntu/ xenial-security multiverse
 
deb http://mirrors.aliyun.com/ubuntu/ bionic main universe restricted multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic main universe restricted multiverse #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ bionic-updates main universe restricted multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-updates main universe restricted multiverse #Added by software-properties
deb http://security.ubuntu.com/ubuntu/ bionic-security main universe restricted multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-security main universe restricted multiverse #Added by software-properties

2、打开终端（AlT+T），设置软件源，输入下列代码。

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'

3.设置密钥

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

4.更新

sudo apt-get update 

5.安装ros melodic完整版
【注意：网速慢的话可能没有下载完，导致roscore不存在，这里需要再次执行这个命令，如果不确定也可以多次执行，看是否还有没有安装的包】

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

6.安装pip3的包
【如果已经安装请忽略】

sudo apt-get install python3-pip

7.执行rosdep update

sudo rosdepc init
rosdepc update 

8.添加ros环境变量

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

9.测试小乌龟

roscore 

rosrun turtlesim turtlesim_node 

rosrun turtlesim turtle_teleop_key