Win10+Ubuntu18.04双系统安装 & ROS Melodic安装

一、Win10+Ubuntu18.04双系统安装

a. Ubuntu18.04安装

参考 https://www.cnblogs.com/masbay/p/11627727.html

注：若显卡为NVIDIA，初次运行Ubuntu18.04系统时会出现黑屏卡死的情况，解决方法参考

https://www.jb51.net/article/146555.htm。

b. 将Ubuntu18.04修改为国内源

参考 https://blog.csdn.net/include_gril_friend_/article/details/104464911

修改前备份source.list文件

sudo cp /etc/apt/sources.list /etc/apt/sources.list.bak

修改为阿里源（或其他源）

sudo gedit /etc/apt/sources.list

添加如下代码（或将文件内容替换为如下代码）

deb http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-proposed main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-proposed main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse

保存后执行

sudo apt-get update
sudo apt-get upgrade

二、ROS Melodic版本安装（强烈建议安装完整版ros-melodic-desktop-full）

参考官方指南 http://wiki.ros.org/melodic/Installation/Ubuntu。

注：步骤1.6安装ROS依赖项中可能出现网络不佳导致依赖项初始化&更新失败的情况，解决方法参考https://zhuanlan.zhihu.com/p/77483614，依赖项更新成功显示如下图：

安装完成后在终端执行

roscore

成功运行如下图所示