快速部署Melodic开发环境

最近因为工作原因需要学习ROS，ROS已经发展到ROS2，但公司的产品在ROS上进行开发，因此在ubuntu18上部署melodic，在ubuntu20上部署noetic。开始按照https://github.com/wsnewman/learning_ros_setup_scripts/blob/master/melodic/install_ros_and_tools_melodic.sh部署melodic，速度非常慢，特别是rosdep初始化和更新时需要编辑hosts文件和添加代理https://ghproxy.com等，后经过百度得知国内牛人使用rosdepc来替代rosdep，现将部署流程和脚本写下来，以供初学者快速部署ROS，这里非常感谢各位大牛的贡献。

部署melodic的步骤如下：

一、添加ROS源（国内源，内容来自ROS/Installation/UbuntuMirrors - ROS Wiki）

1、Index of /ros/

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

2、Index of /ros/ | 清华大学开源软件镜像站 | Tsinghua Open Source Mirror

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

3、Index of /ros/ | 北京外国语大学开源软件镜像站 | BFSU Open Source Mirror

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.bfsu.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

4、ros

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.sjtug.sjtu.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

二、安装密钥及更新源

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

sudo apt update && sudo apt --yes upgrade

三、安装ROS

sudo apt install ros-melodic-desktop-full

四、安装rosdepc

sudo apt install python-pip

sudo pip install rosdepc

sudo rosdepc init

rosdepc update

五、配置环境ROS运行环境

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

source ~/.bashrc

六、安装ROS命令行工具

sudo apt install -y python-rosinstall

sudo apt-get --yes --force-yes install ros-melodic-joy ros-melodic-costmap-2d ros-melodic-nav-core ros-melodic-sound-play ros-melodic-amcl ros-melodic-slam-gmapping ros-melodic-move-base ros-melodic-controller-interface ros-melodic-gazebo-ros-control ros-melodic-joint-state-controller ros-melodic-effort-controllers ros-melodic-moveit-msgs ros-melodic-teleop-twist-keyboard ros-melodic-slam-gmapping ros-melodic-map-server ros-melodic-qt-gui ros-melodic-kdl-parser ros-melodic-combined-robot-hw ros-melodic-combined-robot-hw-tests ros-melodic-controller-manager-tests ros-melodic-diff-drive-controller ros-melodic-force-torque-sensor-controller ros-melodic-gripper-action-controller ros-melodic-imu-sensor-controller ros-melodic-position-controllers ros-melodic-ros-control ros-melodic-ros-controllers ros-melodic-rqt-joint-trajectory-controller ros-melodic-velocity-controllers

sudo apt-get --yes --force-yes install ros-melodic-cv-bridge ros-melodic-polled-camera ros-melodic-camera-info-manager ros-melodic-tf-conversions

sudo apt-get --yes --force-yes install ros-melodic-opencv-apps libopencv-dev

sudo apt-get --yes install ros-melodic-rqt

sudo apt-get --yes install ros-melodic-rqt-common-plugins

七、创建ROS工作空间

mkidr -p ~/ros_ws/src

cd ~/ros_ws/src

catkin_init_workspace

cd ~/ros_ws && catkin_make

catkin_make install

echo “source ~/ros_ws/devel/setup.bash” >> ~/.bashrc

source ~/,bashrc

注意：在使用脚本时，可能没有执行source ~/.bashrc，导致找不到命令catkin_init_workspace和catkin_make。

下一篇介绍noetic的部署。