解决ROS系统 rosdep update超时问题的新方法(两种)

方法​​​​​​​一：

操作系统Ubuntu20.04

首先定位rosdep资源下载函数。从报错信息中得知，该函数名为download_rosdep_data，位于/usr/lib/python3/dist-packages/rosdep2/sources_list.py。我们修改这一函数，在try后面添加：

url="https://ghproxy.com/"+url

用同样的方法修改/usr/lib/python3/dist-packages/rosdistro/__init__.py里面的DEFAULT_INDEX_URL。
即将DEFAULT_INDEX_URL 进行如下替换：

DEFAULT_INDEX_URL = 'https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml'

除此处外，下述文件中也含有github地址，分别是：

/usr/lib/python3/dist-packages/rosdep2/gbpdistro_support.py 36行
/usr/lib/python3/dist-packages/rosdep2/sources_list.py 72行
/usr/lib/python3/dist-packages/rosdep2/rep3.py	39行
/usr/lib/python3/dist-packages/rosdistro/manifest_provider/github.py 68行 119行

对于第五个地址[https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml]报错的问题, 在/usr/lib/python2.7/dist-packages/rosdep2/gbpdistro_support.py 第204行添加如下代码

gbpdistro_url = "https://ghproxy.com/" + gbpdistro_url

最后执行

rosdep update

即可

方法二：

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

git clone到本地，记住目录，例如我git clone 到了路径 /home/robot/rosdistro/

查找 文件/usr/lib/python2/dist-packages/rosdep2/rep3.py 中的raw.githubusercontent.com，将 https://raw.githubusercontent.com/ros/rosdistro/master 替换成 file://+第1步中的路径，比如我的是：将 原来文件中的 REP3_TARGETS_URL = 'https://raw.githubusercontent.com/ros/rosdistro/master/releases/targets.yaml' 替换成 REP3_TARGETS_URL = 'file:///home/robot/rosdistro/releases/targets.yaml'

同第2步，查找文件/usr/lib/python2/dist-packages/rosdistro/init.py中的raw.githubusercontent.com，将 https://raw.githubusercontent.com/ros/rosdistro/master 替换成 file://+第1步中的路径，比如：将 原来文件中的 DEFAULT_INDEX_URL = 'https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml'替换成 DEFAULT_INDEX_URL = 'file:///home/robot/rosdistro/index-v4.yaml'

sudo rosdep init 重新生成/etc/ros/rosdep/sources.list.d/20-default.list，将该文件中的所有https://raw.githubusercontent.com/ros/rosdistro/master 也替换成 file://+第1步中的路径，比如我修改后的文件：

# os-specific listings first

yaml file:///home/robot/rosdistro/rosdep/osx-homebrew.yaml osx

# generic

yaml file:///home/robot/rosdistro/rosdep/base.yaml
yaml file:///home/robot/rosdistro/rosdep/python.yaml
yaml file:///home/robot/rosdistro/rosdep/ruby.yaml
gbpdistro file:///home/robot/rosdistro/releases/fuerte.yaml fuerte

# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead

然后就可以顺畅的rosdep update了