ROS1系列（二） Noetic安装

ros wiki

• 设置软件源

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'

• 添加秘钥

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

• 更新源列表并安装

sudo apt update
sudo apt install ros-noetic-desktop-full

• 设置环境变量

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

注：ROS节点权限问题，运行某些节点需要管理员权限（涉及硬件）,则也要在root用户中设置环境变量

切换root 用户，添加环境变量

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

• Dependencies for building packages

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

• With the following, you can initialize rosdep.

sudo rosdep init
rosdep update

• 运行roscore

roscore

rosdep update

第一步
登录ipaddress 、Dns查询；输入查询对应的ip

github.global.ssl.fastly.net
github.com

打开文件，修改host文件中的ip地址

sudo gedit /etc/hosts
sudo vim /etc/hosts

需要根据实际情况调整格式 ip与网址至少一个tab键的距离，网址上下尽量对齐。

151.101.228.133	raw.github.com
199.232.28.133	raw.githubusercontent.com
185.199.108.133	raw.githubusercontent.com
185.199.109.133	raw.githubusercontent.com
185.199.110.133	raw.githubusercontent.com
185.199.111.133	raw.githubusercontent.com

重启电脑，让hosts文件生效；你会发现git clone的速度快很多。

第二步

sudo vim /usr/lib/python3/dist-packages/rosdep2/sources_list.py +302

找到download_rosdep_data函数，添加

url="https://ghproxy.com/"+url

修改URL；例如

DEFAULT_INDEX_URL = 'https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml'

https://ghproxy.com/
sudo vim /usr/lib/python3/dist-packages/rosdep2/sources_list.py +64
sudo vim /usr/lib/python3/dist-packages/rosdistro/__init__.py +68
sudo vim /usr/lib/python3/dist-packages/rosdep2/gbpdistro_support.py +34
sudo vim /usr/lib/python3/dist-packages/rosdep2/rep3.py +36
sudo vim /usr/lib/python3/dist-packages/rosdistro/manifest_provider/github.py +68
sudo vim /usr/lib/python3/dist-packages/rosdistro/manifest_provider/github.py +119

初始化并更新

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

问题一：NO_PUBKEY：F42ED6FBAB17C654

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

问题二：安装ROS报错

The following packages have unmet dependencies:
	ros-${ROS_DISTRO}-desktop-full : 
		Depends: ros-${ROS_DISTRO}-desktop but it is not going

解决方案更换软件源