ROS开发基础-Linux基础第三部（常用Linux系统设置说明）

下载源设置

使用Ubuntu进行开发时，需要下载多个软件，如ROS、Moveit！等等。Ubuntu系统自带的更新源下载路径在国外服务器，下载速度较慢，这种情况只需更换下载源即可。

本文基于系统安装章节部分安装完毕的系统，介绍更新源的方式。

1备份下载源原文件

在系统桌面打开1个新的终端，在终端输入以下命令：

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

上述命令含义为：使用管理员权限将“ /etc/apt”文件夹下的“sources.list”文件复制在同目录下，且文件名称修改为“sources_cp.list”；

2 更改文件权限

在上一步骤的终端内继续输入以下命令：

sudo chmod 777 /etc/apt/sources.list

使用管理员权限将“ /etc/apt”文件夹下的“sources.list”文件权限修改为‘777’，含义为可读可写可执行，此处执行此条命令含义为方便下一步修改文件内容。

3 修改文件内容

①下载vim

在终端输入以下命令，下载并安装vim编辑器

sudo apt-get install vim

②更改文件内容，此处可通过文本编辑器通过图形界面打开或者在终端输入以下命令：

vim /etc/apt/sources.list

打开文本之后将内容全部删除，添加下述合适的国内镜像源。

③国内镜像源文件路径

#阿里源地址

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

#华为源地址

deb https://repo.huaweicloud.com/ubuntu/ focal main restricted

deb https://repo.huaweicloud.com/ubuntu/ focal-updates main restricted

deb https://repo.huaweicloud.com/ubuntu/ focal universe

deb https://repo.huaweicloud.com/ubuntu/ focal-updates universe

deb https://repo.huaweicloud.com/ubuntu/ focal-backports main restricted universe

deb https://repo.huaweicloud.com/ubuntu/ focal-security main restricted

deb https://repo.huaweicloud.com/ubuntu/ focal-security universe

#中科大源地址

deb https://mirrors.ustc.edu.cn/ubuntu/ bionic main restricted universe multiverse

deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic main restricted universe multiverse

deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse

deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse

deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse

deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse

deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-security main restricted universe multiverse

deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-security main restricted universe multiverse

deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse

deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse

#163源地址

deb http://mirrors.163.com/ubuntu/ bionic main restricted universe multiverse

deb http://mirrors.163.com/ubuntu/ bionic-security main restricted universe multiverse

deb http://mirrors.163.com/ubuntu/ bionic-updates main restricted universe multiverse

deb http://mirrors.163.com/ubuntu/ bionic-proposed main restricted universe multiverse

deb http://mirrors.163.com/ubuntu/ bionic-backports main restricted universe multiverse

deb-src http://mirrors.163.com/ubuntu/ bionic main restricted universe multiverse

deb-src http://mirrors.163.com/ubuntu/ bionic-security main restricted universe multiverse

deb-src http://mirrors.163.com/ubuntu/ bionic-updates main restricted universe multiverse

deb-src http://mirrors.163.com/ubuntu/ bionic-proposed main restricted universe multiverse

deb-src http://mirrors.163.com/ubuntu/ bionic-backports main restricted universe multiverse

#清华源地址

deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse

deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse

deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse

deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse

deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse

deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe ultiverse

deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse

deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse

deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse

deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted universe ultiverse

4更新系统软件源地址

修改完毕下载源之后输入以下命令更新下载源，等待更新完毕即可：

vim /etc/apt/sources.list