Ubuntu18.04+ROS Melodic配置及问题解决

1、设置软件源

国外的：

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

中科大：

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

清华：

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

2、设置密钥

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654

3、安装

sudo apt-get update
sudo apt-get install ros-melodic-desktop-full
sudo apt-get install ros-melodic-rqt* （可选）

4、初始化rosdep

sudo rosdep init
rosdep update

5、设置环境

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

6、安装依赖

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

7、海龟测试，打开三个终端

roscore
rosrun turtlesim turtlesim_node 
rosrun turtlesim turtle_teleop_key 

8、可能出现的问题及解决方案

8.1 执行 sudo rosdep init 失败

直接创建目录/etc/ros/rosdep/sources.list.d/，并在此目录下创建20-default.list这个文件。创建这个文件需要高级权限。

# os-specific listings first
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx
 
# generic
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
gbpdistro https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml fuerte
 
# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead

8.2 执行rosdep update失败

（1）修改TimeOut响应时长。

（2）将rosdistro.zip解压到/etc/ros目录下，需要超级权限。然后修改20-default.list脚本文件，需要超级权限。可以跟前面的脚本内容做下对比。

# os-specific listings first
#yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx
yaml file:///etc/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx
# generic
#yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
#yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
#yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
#gbpdistro https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml fuerte
 
yaml file:///etc/ros/rosdistro/master/rosdep/base.yaml
yaml file:///etc/ros/rosdistro/master/rosdep/python.yaml
yaml file:///etc/ros/rosdistro/master/rosdep/ruby.yaml
gbpdistro file:///etc/ros/rosdistro/master/releases/fuerte.yaml fuerte
# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead

退出保存后，执行rosdep update。

（3）如果还是失败，sudo 打开/usr/lib/python2.7/dist-packages/rosdistro/__init__.py这个文件，按照下面的代码进行修改。

# index information
 
#DEFAULT_INDEX_URL = 'https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml'
DEFAULT_INDEX_URL = 'file:///etc/ros/rosdistro/master/index-v4.yaml'

保存后，执行rosdep update。

（4）如果还是失败，那么就是本机DNS被污染，无法获得https://raw.githubusercontent.com这个网址的正确IP，导致连接失败。

通过/etc/network/interfaces，在它的最后增加一句：

dns-nameservers 8.8.8.8

回到terminal，执行rosdep update。这时应该就不会报错了，有可能会超时，主要是网速问题，尝试几次就应该出现下面成功的打印了。以下为成功时打印内容。

reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit file:///etc/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit file:///etc/ros/rosdistro/master/rosdep/base.yaml
Hit file:///etc/ros/rosdistro/master/rosdep/python.yaml
Hit file:///etc/ros/rosdistro/master/rosdep/ruby.yaml
Hit file:///etc/ros/rosdistro/master/releases/fuerte.yaml
Query rosdistro index file:///etc/ros/rosdistro/master/index-v4.yaml
Skip end-of-life distro "ardent"
Skip end-of-life distro "bouncy"
Skip end-of-life distro "crystal"
Add distro "dashing"
Add distro "eloquent"
Add distro "foxy"
Skip end-of-life distro "groovy"
Skip end-of-life distro "hydro"
Skip end-of-life distro "indigo"
Skip end-of-life distro "jade"
Add distro "kinetic"
Skip end-of-life distro "lunar"
Add distro "melodic"
Add distro "noetic"
updated cache in /home/xxxx/.ros/rosdep/sources.cache

参考内容：

1、ubuntu18.04安装ROS Melodic（最详细配置）_抚琴弹出情凋零的博客-CSDN博客

2、安装ROS, 初始化时rosdep update出错解决办法_super_sean的博客-CSDN博客_rosdep update出错

3、Ubuntu下设置DNS的方法_function的专栏-CSDN博客