ubuntu_ROS及Cartographer的安装及运行（4）

ubuntu版本18.04
清华大学开源软件镜像站网址

https://mirror.tuna.tsinghua.edu.cn/help/AOSP/

ros官网

wiki.ros.org

1.配置Ubuntu软件源
选择阿里源，关闭这个窗口后执行

sudo apt update

2.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'

2.1如果密匙设置不成功，就在清华大学软件源官网找到ROS 复制网址，将复制的网址替换到vim编辑器打开文件里边的网址

sudo vim  /etc/apt/sources.list.d/ros-latest.list

3.设置密匙，如果设置密匙不成功，将清华大学软件源官网的密匙，输入到终端，完成后如图

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

4.访问源列表里的每个网址

sudo apt-get update

5.安装ros

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

6.添加环境变量

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

7.rosinstall常用的命令行工具安装

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

8.初始化rosdep,失败跳过这个步骤也是可以打开roscore的

sudo apt install python-rosdep
sudo rosdep init
rosdep update

8.1报错：ERROR: cannot download default sources list from: https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
解决办法
#打开hosts文件
sudo gedit /etc/hosts
#在文件末尾添加
151.101.84.133 raw.githubusercontent.com
#保存后退出再尝试 如果还是失败 按解决rosdep update问题方法去更给链接的地址，改完之后再次重试sudo rosdep init

关于以下通过增加https://ghproxy.com/前缀的方法目前已经失效 ，2023.12.15 测试 #在文件末尾添加
151.101.84.133 raw.githubusercontent.com后重新rosdep update直接装成功了2次
如果还不成功就翻墙或者等网络好的时候在执行

9.rosdep update失败问题
9.1

在/usr/lib/python2.7/dist-packages/rosdep2/sources_list.py增添

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

9.2

在/usr/lib/python2.7/dist-packages/rosdistro/__init__.py添加
https://ghproxy.com/前缀

9.3

在/usr/lib/python2.7/dist-packages/rosdep2/gbpdistro_support.py添加https://ghproxy.com/前缀

9.4

在/usr/lib/python2.7/dist-packages/rosdep2/sources_list.py添加https://ghproxy.com/前缀

9.5

在/usr/lib/python2.7/dist-packages/rosdep2/rep3.py添加https://ghproxy.com/前缀

9.6

在/usr/lib/python2.7/dist-packages/rosdistro/manifest_provider/github.py的两处添加https://ghproxy.com/前缀

第一处

第二处
9.7

在/usr/lib/python2.7/dist-packages/rosdep2/gbpdistro_support.py 添加gbpdistro_url = "https://ghproxy.com/" + gbpdistro_url

9.8重新sudo rosdep update

10.打开三个终端测试
第一个终端 打开ROS服务

roscore

第二个终端 打开小乌龟

rosrun turtlesim turtlesim_node

第三个终端 可以使用键盘操控小乌龟

rosrun turtlesim turtle_teleop_key

上下左右键可以控制小海龟移动
cartographer_ros安装
参考安装

https://blog.csdn.net/qq_36059536/article/details/107418777?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522164964357916780269838559%2522%252C%2522scm%2522%253A%252220140713.130102334..%2522%257D&request_id=164964357916780269838559&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~top_click~default-2-107418777.142^v7^control,157^v4^control&utm_term=ubuntu18.04%E5%AE%89%E8%A3%85cartographer&spm=1018.2226.3001.4187

参考解决rosdep update

 https://blog.csdn.net/leida_wt/article/details/115120940

2D包 .

wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag

3D 包

wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-04-05-14-14-00.bag
roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag