Ubuntu20.04安装ros-noetic

 官网参考链接：melodic/Installation/Ubuntu - ROS Wiki

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

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

sudo apt update

sudo apt install ros-noetic-desktop-full

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

安装完成后查询
apt search ros-noetic

1.安装rosdep

sudo apt-get install python3-rosdep
sudo rosdep init
rosdep update

当rosdep init出错时

ERROR: cannot download default sources list from:
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
Website may be down.

命令行

sudo gedit /etc/hosts

弹出的文件中输入，里面可能有无效的，这个是在太难安装了，都放进去吧，我试了好多次，不停的试，终于有一次完整跑下来了

199.232.28.133 raw.githubusercontent.com
199.232.28.133 raw.github.com
151.101.84.133 raw.githubusercontent.com
151.101.84.133 raw.github.com
151.101.228.133 raw.github.com

 如果报timeout的错误就修改等待时间，改成DOWNLOAD_TIMEOUT = 10000.0

sudo vim /usr/lib/python3/dist-packages/rosdep2/rep3.py
sudo vim /usr/lib/python3/dist-packages/rosdep2/sources_list.py
sudo vim /usr/lib/python3/dist-packages/rosdep2/gbpdistro_support.py

2.其他相关项

sudo apt install python3-rosinstall
sudo apt install python3-wstool
sudo apt install build-essential

最后查看版本

rosversion -d

为了在每次打开新窗口都能直接使用ros命令，最好配置下环境变量，下面是我的相关环境变量

source /opt/ros/noetic/setup.bash
source /home/xxx/catkin_ws/devel/setup.bash    #xxx代表你的用户名
export ROS_HOSTNAME=localhost
export ROS_MASTER_URI=http://localhost:11311
export WEBOTS_HOME=/usr/local/webots