Ubuntu 18.04 ros-melodic安装

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官网教程

Ubuntu18.04安装ROS Melodic

没错，被折磨疯了的我选择换了系统，所以换了ros版本melodic

1.设置sources.list

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

2.设置公钥

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

3.更新

sudo apt update

4.安装

还是建议安装完整版，其他的直接看官网教程

sudo apt install ros-melodic-desktop-full

寻找可用包

apt search ros-melodic

5.初始化rosdep

sudo rosdep init
rosdep update

6.环境设置

为了不每次打开终端都要source一次，我们将其加到bash中

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

7.安装依赖

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

---

接下来是sudo rosdep init总是出错的地方

正确的rosdep update输出

reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml
Add distro "groovy"
Add distro "hydro"
Add distro "indigo"
Add distro "jade"
Add distro "kinetic"
Add distro "lunar"
Add distro "melodic"
updated cache in /home/tjx/.ros/rosdep/sources.cache

错误1：

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

解决方法：

sudo rm /etc/ros/rosdep/sources.list.d/20-default.list
sudo apt-get update
sudo rosdep init
rosdep update

错误2：

reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml]:
	<urlopen error [Errno 104] Connection reset by peer> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml)
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml

解决方法：

sudo apt-get update && sudo apt-get install python-rosdep
sudo rosdep init
rosdep update

错误3：

Traceback (most recent call last):
  File "/usr/bin/rosdep", line 3, in <module>
    from rosdep2.main import rosdep_main
ModuleNotFoundError: No module named 'rosdep2'

解决方法：
切换自己的python为python2
我自己尝试了很多次，最好还是使用切换python2的方法，因为如果你用的是python3，后面会提示你缺少很多东西，然后在补充安装的时候会自动卸载ros包里的东西。进入一个死循环
或者

sudo apt-get install python3-rosdep