ubuntu16.04配置melodic版本ROS流程记录

写在前面：最近的项目需要在ubuntu16.04上配置melodic版本的ros，而ros官网写的是16.04推荐安装kinetic版本，18推荐安装melodic，因此在这里特意记录一下，帮助有需要的同学。

参考

http://wiki.ros.org/cn/melodic/Installation/Ubuntu
http://www.autolabor.com.cn/book/ROSTutorials/

安装源

官网写的是：
sudo sh -c ‘echo “deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main” > /etc/apt/sources.list.d/ros-latest.list’

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’ 国科大安装源
注意：这里的源可能会出问题，首先是lsb_relsease是直接输出的自己的版本，但是我的ubuntu版本并不能下载melodic版本的ros，因此需要修改源：

sudo sh -c ‘echo “deb http://packages.ros.org/ros/ubuntu $bionic main” > /etc/apt/sources.list.d/ros-latest.list’

/etc/apt/sources.list修改成：

# See http://help.ubuntu.com/community/UpgradeNotes for how to upgrade to
# newer versions of the distribution.
deb http://mirrors.i.brainpp.cn/ubuntu/ bionic main restricted
# deb-src http://mirrors.i.brainpp.cn/ubuntu/ bionic main restricted

## Major bug fix updates produced after the final release of the
## distribution.
deb http://mirrors.i.brainpp.cn/ubuntu/ bionic-updates main restricted
# deb-src http://mirrors.i.brainpp.cn/ubuntu/ bionic-updates main restricted

## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu
## team. Also, please note that software in universe WILL NOT receive any
## review or updates from the Ubuntu security team.
deb http://mirrors.i.brainpp.cn/ubuntu/ bionic universe
# deb-src http://mirrors.i.brainpp.cn/ubuntu/ bionic universe
deb http://mirrors.i.brainpp.cn/ubuntu/ bionic-updates universe
# deb-src http://mirrors.i.brainpp.cn/ubuntu/ bionic-updates universe

## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu
## team, and may not be under a free licence. Please satisfy yourself as to
## your rights to use the software. Also, please note that software in
## multiverse WILL NOT receive any review or updates from the Ubuntu
## security team.
deb http://mirrors.i.brainpp.cn/ubuntu/ bionic multiverse
# deb-src http://mirrors.i.brainpp.cn/ubuntu/ bionic multiverse
deb http://mirrors.i.brainpp.cn/ubuntu/ bionic-updates multiverse
# deb-src http://mirrors.i.brainpp.cn/ubuntu/ bionic-updates multiverse

## N.B. software from this repository may not have been tested as
## extensively as that contained in the main release, although it includes
## newer versions of some applications which may provide useful features.
## Also, please note that software in backports WILL NOT receive any review
## or updates from the Ubuntu security team.
deb http://mirrors.i.brainpp.cn/ubuntu/ bionic-backports main restricted universe multiverse
# deb-src http://mirrors.i.brainpp.cn/ubuntu/ bionic-backports main restricted universe multiverse

## Uncomment the following two lines to add software from Canonical's
## 'partner' repository.
## This software is not part of Ubuntu, but is offered by Canonical and the
## respective vendors as a service to Ubuntu users.
# deb http://archive.canonical.com/ubuntu bionic partner
# deb-src http://archive.canonical.com/ubuntu bionic partner

deb http://mirrors.i.brainpp.cn/ubuntu/ bionic-security main restricted
# deb-src http://mirrors.i.brainpp.cn/ubuntu/ bionic-security main restricted
deb http://mirrors.i.brainpp.cn/ubuntu/ bionic-security universe
# deb-src http://mirrors.i.brainpp.cn/ubuntu/ bionic-security universe
deb http://mirrors.i.brainpp.cn/ubuntu/ bionic-security multiverse
# deb-src http://mirrors.i.brainpp.cn/ubuntu/ bionic-security multiverse

设置key

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

这步可能会遇到 keyserver timeout 报错，解决方法

curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | sudo apt-key add -

如果还不行，可能是网络代理的问题

安装

按照第一步的源设置好后，这里应该可以开始下载了

sudo apt update

sudo apt install ros-melodic-desktop-full

环境设置

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

source ~/.bashrc

安装依赖

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

sudo apt install python-rosdep

sudo rosdep init rosdep update

查看版本
安装好后可以查看一下版本。

1、先在终端输入 roscore
2、打开新终端，再输入，rosparam list
3、再输入rosparam get /rosdistro就能得到版本