ros melodic 安装教程

1 更改Ubuntu软件源

打开软件和更新，将下载源设为清华源：

2 设置软件源

清华源：

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'

3 设置密钥

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

4 安装过程及问题解决

4.1 安装

sudo apt-get update

sudo apt-get install ros-melodic-desktop-full

sudo apt-get install ros-melodic-rqt*

4.2 初始化

sudo apt-get install python-rosdep

sudo rosdep init

sudo rosdep init 报错解决方案

4.3 更新

rosdep update

4.4 构建工厂依赖

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

4.5 创建并初始化工作空间

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws/
catkin_make

4.5 设置环境变量

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

echo "source /home/llj/catkin_ws/devel/setup.bash" >> ~/.bashrc

source ~/.bashrc

5 测试

roscore