Ubuntu18.04安装ROS-melodic

1 修改软件源

设置->软件和更新->Ubuntu软件

 勾选源代码选项，下载自改为aliyun

打开终端运行：

#修改源文件
sudo gedit /etc/apt/sources.list

#把以下内容复制到sources.list
# deb cdrom:[Ubuntu 16.04 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

 二 添加软件源

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

设置密钥

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

更新软件源

sudo apt update

三 开始下载

sudo apt install ros-melodic-desktop-full
sudo apt-get install python-pip #python2 noetic之前的版本都用python2.7
sudo pip install rosdepc  #用国内的rosdepc不会出问题

sudo -H pip install rosdepc

下载ros_install等相关包

sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential

初始化并更新rosdepc

sudo rosdepc init
rosdepc update

四 设置环境变量

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

五 运行小海龟验证是否安装好ROS

roscore

出现如下报错：

 

 问题不大，是文件权限的问题，执行：

sudo chmod 777 -R ~/.ros/

再来一次roscore：

roscore
rosrun turtlesim turtlesim_node  #再开一个终端
rosrun turtlesim turtle_teleop_key #再开一个终端运行

开始愉快玩耍