Ubuntu18.04安装ROS-Melodic

添加国内安装源

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

这是中科大的源。
清华源：

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

还有其他的国内源

设置密钥

sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

更新软件包

sudo apt-get update

安装ROS Melodic版

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

这个时间很长，等待完成后进行一下操作

添加环境变量

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

安装依赖项

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

初始化rosdep

sudo rosdep init

这个过程可能会出错：

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.

解决方案

cd /etc/
sudo gedit hosts

末尾添加：

151.101.84.133 raw.githubusercontent.com

保存退出，再执行：sudo rosdep init，如果出现错误：

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

则按照提示删除即可：sudo rm /etc/ros/rosdep/sources.list.d/20-default.list，再次执行：sudo rosdep init，成功。

rosdep更新

rosdep update

至此，安装成功

roscore

出现一下界面：
恭喜恭喜！！！