rosdep

linux环境：Ubuntu20.04
ros2版本：foxy
foxy安装方式：Debian软件包安装
处理日期：2021/5/5

一、sudo rosdep init

当执行初始化rosdep命令时：

sudo rosdep init

出现下面错误：

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.

解决方案一（成功）：
多尝试几次。(参考github)
解决方案二（成功）：
复制上面的代码，使用浏览器打开：

https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list

复制浏览器界面的代码，保存为20-default.list，存储位置：

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

浏览器中的代码如下：

# 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

如果rosdep已经初始化了，再次执行此条指令，会出现下面错误：

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

二、rosdep update

当执行初始化rosdep命令时：

rosdep update

出现下面错误（20-default.list中的网站都无法连接）：

reading in sources list data from /etc/ros/rosdep/sources.list.d
ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml]:
	<urlopen error timed out> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml)
ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml]:
	<urlopen error timed out> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml)
...

解决方案1(失败)：
这次尝试了无数次，都无法更新成功。
解决方案2(失败)：
解决方案3(成功)：
通过浏览器打开上面的网站，如：

https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml

可以看到浏览器界面的代码，于是参照sudo rosdep init的方案二，自己手动本地添加需要的代码。比较简单的方式是，选择一个目录，如:

cd /etc/ros/

使用命令如下：

sudo git clone https://github.com/ros/rosdistro.git

更改下面的文件：

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

更改后的内容如下：

# 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

# after 
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

保存退出后
打开/usr/lib/python3/dist-packages/rosdistro/__init__.py这个文件,修改如下：

#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，再次运行：

rosdep update

可能还会有报错：

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
ERROR: unable to process source [file:///etc/ros/rosdistro-master/releases/fuerte.yaml]:
	Failed to download target platform data for gbpdistro:
	The read operation timed out
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/wkai/.ros/rosdep/sources.cache
ERROR: Not all sources were able to be updated.
[[[
ERROR: unable to process source [file:///etc/ros/rosdistro-master/releases/fuerte.yaml]:
	Failed to download target platform data for gbpdistro:
	The read operation timed out
]]]

再尝试几次就成功了：

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/wkai/.ros/rosdep/sources.cache

补充1：如果执行rosdep update并没有出现上面的错误，而是下面的内容：

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
ERROR: unable to process source [file:///etc/ros/rosdistro/master/releases/fuerte.yaml]:
	Failed to download target platform data for gbpdistro:
	<urlopen error [Errno 111] Connection refused>
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/wkai/.ros/rosdep/sources.cache
ERROR: Not all sources were able to be updated.
[[[
ERROR: unable to process source [file:///etc/ros/rosdistro/master/releases/fuerte.yaml]:
	Failed to download target platform data for gbpdistro:
	<urlopen error [Errno 111] Connection refused>
]]]

你需要执行下面指令，打开hosts文件：

sudo gedit /etc/hosts

添加raw.githubusercontent.com解析后的ip地址：

185.199.108.133 raw.githubusercontent.com

ip地址可以到https://www.ipaddress.com/上查询
参考：https://zhuanlan.zhihu.com/p/77483614

三、rosdep install -i --from-path src --rosdistro foxy -y

当我新建一个工作空间，并在src目录下克隆ros2官网示例作准备作为练习：

git clone https://github.com/ros2/examples.git

当我在工作空间根目录下执行检查依赖包的指令：

rosdep install -i --from-path src --rosdistro foxy -y

出现下面的错误：

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
examples_rclpy_pointcloud_publisher: Cannot locate rosdep definition for [sensor_msgs_py]

这说明有类似依赖包的东西缺失，通过关键字查询，找到了下面的目录：

cd ./src/examples-master/relpy/pointcloud_publisher/package.xml

在文件中，我找到了这样两行依赖说明代码：

<exec_depend>sensor_msgs_py</exec_depend>
...
<exec_depend>sensor_msgs</exec_depend>

我以为是我当初安装ros时有些东西没装，于是又卸载重装，重装后，这个sensor_msgs_py依赖包还是缺失。要么去手动下载这个依赖包，要么直接删除对应的文件，我不想折腾了直接选择了第二种。毕竟这个功能我也暂时用不着：

cd ./src/examples-master/relpy/
rm -rf ./pointcloud_publisher/

在工作区根目录再次执行：

rosdep install -i --from-path src --rosdistro foxy -y

没有缺少任何依赖包：

#All required rosdeps installed successfully

其实缺少依赖是可以原谅的，因为当我查看https://github.com/ros2/examples
我发现最新的一次修改在9天前（9 days ago）
但是在工作空间根目录执行colcon build，还是出现很多错误：

Summary: 8 packages finished [6.37s]
  1 package failed: examples_rclcpp_cbg_executor
  6 packages aborted: examples_rclcpp_minimal_action_client examples_rclcpp_minimal_publisher examples_rclcpp_minimal_subscriber examples_rclpy_minimal_action_client examples_rclpy_minimal_action_server examples_rclpy_minimal_client
  4 packages had stderr output: examples_rclcpp_cbg_executor examples_rclcpp_minimal_action_client examples_rclcpp_minimal_publisher examples_rclcpp_minimal_subscriber
  3 packages not processed

后来我才发现这些示例在安装ros2-foxy的时候都已经安装过了，source /opt/ros/foxy/setup.bash后直接可以执行示例，如ros2 run examples_rclcpp_minimal_publisher publisher_lambda，其他示例在/opt/ros/foxy目录下搜索examples关键字就出来了。
我的理解是，https://github.com/ros2/examples上的示例可能是留给开发人员做测试的，并不适合我这种新人。