ubuntu18.04 安装ROS

1设置国内源、sources.list和keys，参考如下链接

https://blog.csdn.net/qq_41450811/article/details/99079041 ubuntu18.04安装ROS Melodic（最详细配置）

http://wiki.ros.org/melodic/Installation/Ubuntu Ubuntu install of ROS Melodic

https://blog.csdn.net/leonardohaig/article/details/82813738 Ubuntu18.04安装ROS Melodic

2 安装ros

sudo apt update

sudo apt install ros-melodic-desktop-full

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

source ~/.bashrc

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

sudo rosdep init         # 可能报错 Website may be down

rosdep update           # 也许上一步正常 这句报错

3.然后输入 sudo rosdep init 和 rosdep update报网络错误，参考如下链接

https://zhuanlan.zhihu.com/p/107218921 解决rosdep init报错“Website may be down”

https://blog.csdn.net/nanianwochengshui/article/details/105702188 sudo rosdep init 出现 ERROR(这个链接中步骤较为详细)

关键就是网络问题  连不上网可按照上述链接方法在本地手动配置

sudo rosdep init

rosdep update

4.创建工作空间 编译工作空间

mkdir -p ~/catkin_ws/src

cd ~/catkin_ws/src

catkin_init_workspace

cd ~/catkin_ws2

catkin_make

5.进行测试 ，开启三个终端，分别输入以下命令，都正常运行无报错即可

roscore

rosrun turtlesim turtlesim_node

rosrun turtlesim turtle_teleop_key