ubuntu20.04.6按装ros

配置ubuntu的软件和更新

 确保勾选了"restricted"， "universe，" 和 "multiverse."

 设置安装源

默认安装源:

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

清华的安装源 

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'

中科大的安装源

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'

 注意密码是不显示的，我用了中科大的源

设置key

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

安装

apt 是用于从互联网仓库搜索、安装、升级、卸载软件或操作系统的工具。

sudo apt update

无法下载 http://mirrors.ustc.edu.cn/ros/ubuntu/dists/focal/main/binary-i386/Packages.gz  文件尺寸不符(59457 != 59487)。您使用的镜像正在同步中？ [IP: 218.104.71.170 80]

更换清华的源解决 

 安装ROS

sudo apt install ros-noetic-desktop-full

再次确认

sudo apt install ros-noetic-desktop-full

 按装pip

sudo apt-get install python3-pip

按装rosdepc   C指中国

sudo pip install rosdepc

初始化 rosdepc  国内必须带C

sudo rosdepc init

 ///

找不到命令 

按装 rosdep2

sudo apt install python3-rosdep2

ERROR: default sources list file already exists:  /etc/ros/rosdep/sources.list.d/20-default.list Please delete if you wish to re-initialize

执行删除

sudo rm /etc/ros/rosdep/sources.list.d/20-default.list

更新 rosdepc  使用国内必须带C

rosdepc update

 设置环境变量

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

让环境变量生效

source ~/.bashrc

如果没有正确安装 卸载ros 重装

|||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||

sudo apt remove ros-noetic-*

|||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||安装构建依赖

noetic 最初发布时，没有安装构建依赖这一步骤。随着 noetic 不断完善，官方补齐了这一操作

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

 验证 ROS 是否安装成功

roscore

\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\

 报错解决

Command ‘roscore’ not found, but can be installed with:sudo apt install python3-roslaunch

sudo apt install python3-roslaunch

Resource not found: roslaunch
ROS path [0]=/opt/ros/noetic/share/ros
ROS path [1]=/opt/ros/noetic/share
The traceback for the exception was written to the log file

 解决办法

$ sudo apt-get install ros-noetic-roslaunch

或ros没有正确按装，再次按装 

sudo apt install ros-noetic-desktop-full

 ubuntu内存不足1G 记得按y

$ rosclean check
$ rosclean purge

Resource not found: rosbash

$ sudo apt install ros-noetic-rosbash

 not found: rosrun

$ sudo apt install ros-noetic-rosrun

 Could not find the required component 'rospy' 

如不能解决则 需要按装rosservice或ros-noetic-rospy

$ sudo apt-get install python3-rospy

$ sudo apt-get install ros-noetic-rospy

rosservice not found 

$ sudo apt install python3-rosservice

ERROR: default sources list file already exists: /etc/ros/rosdep/sources.list.d/20-default.list Please delete if you wish to re-initialize

$ sudo rm /etc/ros/rosdep/sources.list.d/20-default.list

\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\

ROS中使用许多工具前，要求需要初始化rosdep(可以安装系统依赖) rosdep不带C是国外的

sudo apt install python3-rosdep

 或者

 sudo apt install python-rosdep2

或者 

 sudo apt install python3-rosdep2

建议使用国内 按装rosdep

 

初始化rosdep 不带C国外的

最好使用国内的rosdep

sudo rosdep init

ERROR: default sources list file already exists:
    /etc/ros/rosdep/sources.list.d/20-default.list
Please delete if you wish to re-initialize

sudo rm /etc/ros/rosdep/sources.list.d/20-default.list

 更新

rosdep update

使用国内rosdep不用替换

 

 ERROR: error loading sources list:
    <urlopen error <urlopen error [Errno 111] Connection refused> (https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml)>

资源被屏蔽了

使用以下资源替换即可

https://gitee.com/zhao-xuzuo/rosdistro

 主要使用

gitee.com/zhao-xuzuo/rosdistro/raw/master

替换

raw.githubusercontent.com

进入

"/usr/lib/python3/dist-packages/"

cd /usr/lib/python3/dist-packages/

查找rosdep中和raw.githubusercontent.com相关的内容

find . -type f | xargs grep "raw.githubusercontent"

文件中涉及的 URL 内容，

raw.githubusercontent.com/ros/rosdistro/master

都替换

gitee.com/zhao-xuzuo/rosdistro/raw/master

chuanmei@ubuntu:~/Desktop$ cd /usr/lib/python3/dist-packages/
chuanmei@ubuntu:/usr/lib/python3/dist-packages$ find . -type f | xargs grep "raw.githubusercontent"
匹配到二进制文件 ./rosdistro/__pycache__/__init__.cpython-38.pyc

sudo gedit ./rosdistro/__pycache__/__init__.cpython-38.pyc

./rosdistro/__init__.py:DEFAULT_INDEX_URL = 'https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml'
匹配到二进制文件 ./rosdistro/manifest_provider/__pycache__/github.cpython-38.pyc

sudo gedit ./rosdistro/manifest_provider/__pycache__/github.cpython-38.pyc

./rosdistro/manifest_provider/github.py:    url = 'https://raw.githubusercontent.com/%s/%s/package.xml' % (path, release_tag)
./rosdistro/manifest_provider/github.py:        url = 'https://raw.githubusercontent.com/%s/%s/%s' % \
./requests-2.22.0.egg-info/PKG-INFO:        [](http://docs.python-requests.org/)
匹配到二进制文件 ./rosdep2/__pycache__/rep3.cpython-38.pyc

sudo gedit ./rosdep2/__pycache__/rep3.cpython-38.pyc

匹配到二进制文件 ./rosdep2/__pycache__/sources_list.cpython-38.pyc

sudo gedit ./rosdep2/__pycache__/sources_list.cpython-38.pyc

匹配到二进制文件 ./rosdep2/__pycache__/gbpdistro_support.cpython-38.pyc

sudo gedit ./rosdep2/__pycache__/gbpdistro_support.cpython-38.pyc

./rosdep2/gbpdistro_support.py:FUERTE_GBPDISTRO_URL = 'https://raw.githubusercontent.com/ros/rosdistro/' \
./rosdep2/sources_list.py:DEFAULT_SOURCES_LIST_URL = 'https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list'
./rosdep2/rep3.py:REP3_TARGETS_URL = 'https://raw.githubusercontent.com/ros/rosdistro/master/releases/targets.yaml'
grep: ./setuptools/script: 没有那个文件或目录
grep: (dev).tmpl: 没有那个文件或目录
grep: ./setuptools/command/launcher: 没有那个文件或目录
grep: manifest.xml: 没有那个文件或目录

注国外的都要替换，要不就使用国内的  按装rosdepc   C指中国

国内按装

sudo pip install rosdepc

国内初使化

sudo rosdepc init

 更新

rosdepc update

 

 测试

1.  首先启动三个命令行(ctrl + alt + T)

2.  命令行1键入:roscore

roscore

3.  命令行2键入:rosrun turtlesim turtlesim_node(此时会弹出图形化界面)

rosrun turtlesim turtlesim_node

4.  命令行3键入:

rosrun turtlesim turtle_teleop_key

(在3中可以通过上下左右控制2中乌龟的运动)

rosdep 也可以这样按装

sudo apt install python3-rosdep

sudo rosdep ini

RROR: default sources list file already exists:
    /etc/ros/rosdep/sources.list.d/20-default.list
Please delete if you wish to re-initialize 

sudo rm /etc/ros/rosdep/sources.list.d/20-default.list

 ERROR: error loading sources list:
    <urlopen error <urlopen error [Errno 111] Connection refused> (https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml)>

sudo gedit /etc/hosts

199.232.28.133 raw.githubusercontent.com

 

sudo rm /etc/ros/rosdep/sources.list.d/20-default.list

rosdep update

测试两个终端

# 终端1:激活ROS核心
roscore

# 终端2:打开Rviz
rosrun rviz rviz