Ubuntu18.04安装ros

1、更换源

sudo gpedit   /etc/apt/sources.list

新源：

deb http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse

deb http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse

deb http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse

deb http://mirrors.aliyun.com/ubuntu/ bionic-proposed main restricted universe multiverse

deb http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse

deb-src http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse

deb-src http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse

deb-src http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse

deb-src http://mirrors.aliyun.com/ubuntu/ bionic-proposed main restricted universe multiverse

deb-src http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse

更新软件源出现错误：“由于没有公钥，无法验证下列签名”

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

或者

sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv F42ED6FBAB17C654
sudo apt update

2、添加ros源

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、开始更新并且安装

sudo apt-get update

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

sudo apt-get install ros-melodic-rqt*

4、安装rosdep、rosin，加载环境变量

sudo rosdep init

rosdep update

sudo apt-get install python-rosinstall

source /opt/ros/melodic/setup.bash

出现错误：

sudo: rosdep：找不到命令

sudo apt-get install python-rosdep

5、创建工作目录

mkdir -p ~/catkin_ws/src

cd ~/catkin_ws/src

catkin_init_workspace

//

cd ~/catkin_ws/

catkin_make

6、修改环境变量

sudo apt install net-tools

gedit ~/.bashrc

需要添加内容如下：

# Set ROS melodic
source /opt/ros/melodic/setup.bash
source ~/catkin_ws/devel/setup.bash
 
# Set ROS Network
#ifconfig查看你的电脑ip地址，下边的IP需要修改成自己的ip
export ROS_HOSTNAME=192.168.174.132
export ROS_MASTER_URI=http://${ROS_HOSTNAME}:11311
 
# Set ROS alias command 快捷指令
alias cw='cd ~/catkin_ws'
alias cs='cd ~/catkin_ws/src'
alias cm='cd ~/catkin_ws && catkin_make'

7、小海龟测试

安装仿真包：sudo apt-get install ros-melodic-turtlesim

打开一个终端：roscore、

再打开一个终端：rosrun turtlesim turtlesim_node

再再打开一个终端：rosrun turtlesim turtle_teleop_key