1.更新本地软件
sudo apt-get update
2.
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
3.
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
4.第二段代码后输入 Y,时间较长耐心等待。
sudo apt update
sudo apt install ros-melodic-desktop-full
5.
sudo rosdep init
发现如图所示错误
输入
sudo apt install python-rosdep2
再次输入sudo rosdep init
更新时可能出现以下问题
可按下述方法解决,建议直接复制文中代码
去github.com/ros/rosdistro网站下载压缩包,并且把文件名改为rosdistro,放到主目录下。
(1)修改这个包中rosdep/source.list.d/下的文件20-default.list
把xxx改为自己的电脑名称,建议直接复制过去替换原文件。
# os-specific listings first
yaml file:///home/xxx/rosdistro/rosdep/osx-homebrew.yaml osx
# generic
yaml file:///home/xxx/rosdistro/rosdep/base.yaml
yaml file:///home/xxx/rosdistro/rosdep/python.yaml
yaml file:///home/xxx/rosdistro/rosdep/ruby.yaml
gbpdistro file:///home/xxx/rosdistro/releases/fuerte.yaml fuerte
# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead
(2)修改 /usr/lib/python2.7/dist-packages/rosdep2
该文件夹下面的sources_list.py
文件,把xxx改为自己的电脑名称。
# default file to download with 'init' command in order to bootstrap
# rosdep
DEFAULT_SOURCES_LIST_URL = 'file:///home/xxx/rosdistro/rosdep/sources.list.d/20-default.list'
# seconds to wait before aborting download of rosdep data
(3)修改以下两个文件里面的代码:
/usr/lib/python2.7/dist-packages/rosdep2/rep3.py
/usr/lib/python2.7/dist-packages/rosdistro/__init__.py
样例如下:
/usr/lib/python2.7/dist-packages/rosdep2/rep3.py文件:
# location of targets file for processing gbpdistro files
REP3_TARGETS_URL = 'file:///home/xxx/rosdistro/releases/targets.yaml'
# seconds to wait before aborting download of gbpdistro data
/usr/lib/python2.7/dist-packages/rosdistro/__init__.py的文件:
# index information
DEFAULT_INDEX_URL = 'file:///home/xxx/rosdistro/index-v4.yaml'
def get_index_url():
修改完后就可以回到第5步继续安装了
6
rosdep update
7.
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
8.
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential
9.验证是否安装成功,输入
roscore
发现如下错误
输入以下命令
sudo apt-get install ros-melodic-desktop
source ~/.bashrc
最后输入roscore发现成功,如下所示