错误处理——rosdep init，rosdep update失败解决方案

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操作系统： ubuntu 18.04 / ubuntu 20.04
更新时间： 20211221
说明：

• ubuntu 20.04基本步骤类似，存在一些文件的路径有区别。
• 本方案仅供记录，这个问题通过ubuntu命令行添加代理方式能更好解决。

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1. 问题描述

在Ubuntu 18.04 LTS 64bit 安装 ROS Melodic中，步骤初始化rosdep时需要执行指令：

sudo rosdep init
rosdep update

但在执行时会因为网络问题出现错误提示。

1.1 错误-1

sudo: rosdep：找不到命令

解决办法：

sudo apt install python-rosdep

1.2 错误-2

ERROR: default sources list file already exists: /etc/ros/rosdep/sources.list.d/20-default.list Please delete if you wish to re-initialize

解决办法：

sudo rm /etc/ros/rosdep/sources.list.d/20-default.list

路径需根据具体位置修改正确。

1.3 错误-3

ERROR: cannot download default sources list from: https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list Website may be down.

1.4 错误-4

reading in sources list data from /etc/ros/rosdep/sources.list.d
ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml]:
<urlopen error timed out> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml)
ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml]:
<urlopen error timed out> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml)
ERROR: unable to process source
[https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml]:
<urlopen error timed out> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml)
ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml]:
<urlopen error timed out> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml)
ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml]:Failed to download target platform data for gbpdistro:<urlopen error timed out>
Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml 
ERROR: error loading sources list:
<urlopen error <urlopen error timed out> (https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml)>

2. 解决方案

2.0 将rosdistro 文件下载到本地

git clone https://github.com/ros/rosdistro.git

默认会在home/yourname/下出现一个rosdistro文件夹，我习惯将文件夹复制到/opt目录下，根据实际情况修改。

2.1 修改第一个文件

sudo gedit /opt/rosdistro/rosdep/sources.list.d/20-default.list 

修改全部内容为(注意修改/opt为你自己的rosdistro文件夹目录**，下同**)：

# os-specific listings first
yaml file:///opt/rosdistro/rosdep/osx-homebrew.yaml osx
 
# generic
yaml file:///opt/rosdistro/rosdep/base.yaml
yaml file:///opt/rosdistro/rosdep/python.yaml
yaml file:///opt/rosdistro/rosdep/ruby.yaml
gbpdistro file:///opt/rosdistro/releases/fuerte.yaml fuerte 

# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdi

2.2 修改第二个文件

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

修改部分内容：

FUERTE_GBPDISTRO_URL = 'file:///opt/rosdistro/releases/fuerte.yaml'

2.3 修改第三个文件

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

修改部分内容为：

REP3_TARGETS_URL = 'file:///opt/rosdistro/releases/targets.yaml'

2.4 修改第四个文件

sudo gedit /usr/lib/python2.7/dist-packages/rosdistro/__init__.py

修改部分内容为：

DEFAULT_INDEX_URL = 'file:///opt/rosdistro/index-v4.yaml'

2.5 修改第五个文件

sudo gedit /etc/ros/rosdep/sources.list.d/20-default.list

说明：如果指令sudo rosdep init没有执行，则不存在目录/etc/ros/rosdep/sources.list.d，需要自己创建后再修改。

# sudo rosdep init没有执行成功才需要自己创建
sudo mkdir -p /etc/ros/rosdep/sources.list.d
cd /etc/ros/rosdep/sources.list.d
sudo touch 20-default.list
sudo gedit 20-default.list

如果指令sudo rosdep init执行成功了，则存在目录/etc/ros/rosdep/sources.list.d，可直接修改部分内容。

#os-specific listings first
yaml file:///opt/rosdistro/rosdep/osx-homebrew.yaml osx
#generic
yaml file:///opt/rosdistro/rosdep/base.yaml
yaml file:///opt/rosdistro/rosdep/python.yaml
yaml file:///opt/rosdistro/rosdep/ruby.yaml
gbpdistro file:///opt/rosdistro/releases/fuerte.yaml fuerte

#newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the 

2.6 执行指令rosdep update，运行通过

sudo rosdep init
rosdep update