Ubantu18.04 && Ros melodic installation

Ubantu18.04 && Ros melodic installation

更新（使用ustc源不变）！

添加软件源

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

添加密钥

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

更新

sudo apt update

安装桌面完整版

sudo apt install ros-melodic-desktop-full

添加到环境变量

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

此处为重点！！！！

rosdep用小鱼大牛的rosdepc，具体使用方法网络搜索（大牛不愧是大牛）

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首先将软件更新中镜像源改为ustc

official website:Fllow the instructions

First: select Mirrors

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

Second : Add 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 -

Error

gpg: 找不到有效的 OpenPGP 数据。

这里主要原因就是raw.githubusercontent.com是外网地址.
解决办法：
通过浏览器出去（github有链接包，或者百度）打开https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc
1.下载密钥右键网页，选择另存为文本，命名为ros.asc。
2.这是从githubusercontent.com下载的证书，基本证书内容都一样，可以参考。

sudo  touch ros.asc
sudo gedit ros.asc

-----BEGIN PGP PUBLIC KEY BLOCK-----

mQINBFzvJpYBEADY8l1YvO7iYW5gUESyzsTGnMvVUmlV3XarBaJz9bGRmgPXh7jc
VFrQhE0L/HV7LOfoLI9H2GWYyHBqN5ERBlcA8XxG3ZvX7t9nAZPQT2Xxe3GT3tro
u5oCR+SyHN9xPnUwDuqUSvJ2eqMYb9B/Hph3OmtjG30jSNq9kOF5bBTk1hOTGPH4
K/AY0jzT6OpHfXU6ytlFsI47ZKsnTUhipGsKucQ1CXlyirndZ3V3k70YaooZ55rG
aIoAWlx2H0J7sAHmqS29N9jV9mo135d+d+TdLBXI0PXtiHzE9IPaX+ctdSUrPnp+
TwR99lxglpIG6hLuvOMAaxiqFBB/Jf3XJ8OBakfS6nHrWH2WqQxRbiITl0irkQoz
pwNEF2Bv0+Jvs1UFEdVGz5a8xexQHst/RmKrtHLct3iOCvBNqoAQRbvWvBhPjO/p
V5cYeUljZ5wpHyFkaEViClaVWqa6PIsyLqmyjsruPCWlURLsQoQxABcL8bwxX7UT
hM6CtH6tGlYZ85RIzRifIm2oudzV5l+8oRgFr9yVcwyOFT6JCioqkwldW52P1pk/
/SnuexC6LYqqDuHUs5NnokzzpfS6QaWfTY5P5tz4KHJfsjDIktly3mKVfY0fSPVV
okdGpcUzvz2hq1fqjxB6MlB/1vtk0bImfcsoxBmF7H+4E9ZN1sX/tSb0KQARAQAB
tCZPcGVuIFJvYm90aWNzIDxpbmZvQG9zcmZvdW5kYXRpb24ub3JnPokCVAQTAQoA
PhYhBMHPbjHmut6IaLFytPQu1vurF8ZUBQJc7yaWAhsDBQkDwmcABQsJCAcCBhUK
CQgLAgQWAgMBAh4BAheAAAoJEPQu1vurF8ZUkhIP/RbZY1ErvCEUy8iLJm9aSpLQ
nDZl5xILOxyZlzpg+Ml5bb0EkQDr92foCgcvLeANKARNCaGLyNIWkuyDovPV0xZJ
rEy0kgBrDNb3++NmdI/+GA92pkedMXXioQvqdsxUagXAIB/sNGByJEhs37F05AnF
vZbjUhceq3xTlvAMcrBWrgB4NwBivZY6IgLvl/CRQpVYwANShIQdbvHvZSxRonWh
NXr6v/Wcf8rsp7g2VqJ2N2AcWT84aa9BLQ3Oe/SgrNx4QEhA1y7rc3oaqPVu5ZXO
K+4O14JrpbEZ3Xs9YEjrcOuEDEpYktA8qqUDTdFyZrxb9S6BquUKrA6jZgT913kj
J4e7YAZobC4rH0w4u0PrqDgYOkXA9Mo7L601/7ZaDJob80UcK+Z12ZSw73IgBix6
DiJVfXuWkk5PM2zsFn6UOQXUNlZlDAOj5NC01V0fJ8P0v6GO9YOSSQx0j5UtkUbR
fp/4W7uCPFvwAatWEHJhlM3sQNiMNStJFegr56xQu1a/cbJH7GdbseMhG/f0BaKQ
qXCI3ffB5y5AOLc9Hw7PYiTFQsuY1ePRhE+J9mejgWRZxkjAH/FlAubqXkDgterC
h+sLkzGf+my2IbsMCuc+3aeNMJ5Ej/vlXefCH/MpPWAHCqpQhe2DET/jRSaM53US
AHNx8kw4MPUkxExgI7Sd
=4Ofr
-----END PGP PUBLIC KEY BLOCK-----

sudo apt-key add ros.asc # add key

ztl@Lenovo:~$ sudo apt-key add ros.asc
OK

After adding key, add something to hosts

sudo gedit /etc/hosts

在最后一行加入

151.101.84.133  raw.githubusercontent.com

151.101.84.133是网站的IP地址，可以用IP地址查询在host中添加新的IP地址

将下列文件中的TIMEOUT值改为999

sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py

sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/gbpdistro_support.py

sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/rep3.py

如果上述方法不行，可以使用如下命令：

sudo apt-get install python-rosdep python-wstool ros-melodic-ros

用小海龟验证安装成功(每次都需要在新的终端下运行)：

roscore #启动ros核心程序
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key