注意ROS目前并不支持Ubuntu 22.04,强行安装会报错,所以建议在Ubuntu18.04上安装ROS Melodic或者在Ubuntu 20.04上安装ROS Noetic。
现在介绍如何安装ROS Noetic。
1. 设置您的计算机以接受来自 packages.ros.org 的软件
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
2. 设置您的Keys
sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
3. 确保您的 Debian 软件包索引是最新的:
sudo apt update
4. Desktop-Full Install:(推荐)
sudo apt install ros-noetic-desktop-full
5. 环境设置,每次启动新 shell 时自动source,会很方便
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
6. 构建包的依赖
sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
7. 初始化rosdep
sudo apt install python3-rosdep
sudo rosdep init
注:如果报错:
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.
您是否正在使用代理,请试试 sudo -E rosdep init
rosdep update
参考链接:
noetic/Installation/Ubuntu - ROS Wiki
rosdep init cannot download default sources list · Issue #791 · ros-infrastructure/rosdep · GitHub