ROS 安装 Ubuntu换源

安装ROS

换源

sudo cp /etc/apt/sources.list /etc/apt/sources.list.back
sudo gedit /etc/apt/sources.list

将内容替换为
清华源

deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal universe
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates universe
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security universe
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security multiverse

更新

sudo apt-get update
sudo apt-get upgrade

ROS Installation

设置电脑以安装来自packages.ros.org的软件

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

开始安装

sudo apt update
sudo apt install ros-noetic-desktop-full

一般来说，每次打开新终端都要source一下

source /opt/ros/noetic/setup.bash

为了方便，设置自动source此脚本

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

注意如果安装了其他解释器，如zsh

上面*sh均更改为对应的解释器

bash改为zsh bashrc改为zshrc

zsh

echo "source /opt/ros/noetic/setup.zsh" >> ~/.bashrc
source ~/.zshrc