Ubuntu18.04LTS上安装ROS melodic

前言

本文参考ROS官方wiki，描述在Ubuntu18.04LTS上安装ROS的过程。

创建source.list

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

执行 sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'创建ROS的source。

安装curl

sudo apt install curl

执行sudo apt install curl安装curl。

通过curl获取PGP公钥

curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

我在这里遇到报错“gpg: no valid OpenPGP data found.”

尝试使用curl -O https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc下载ros.asc，提示错误：“Could not resolve host: raw.githubusercontent.com”。

可以看到，无法解析raw.githubusercontent.com。怀疑DNS配置有问题，执行指令sudo vim /etc/resolv.conf打开 /etc/resolv.conf ,新增两个DNS服务器地址。

然后ping raw.githubusercontent.com，问题依然存在。在windows下去ping这个域名也不通，此时怀疑网络的原因。

通过一台连接代理的电脑，访问https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc，成功下载ros.asc。然后将ros.asc拷贝到Ubuntu中，运行sudo apt-key add ros.asc后成功添加密钥。

附上ros.asc的内容

-----BEGIN PGP PUBLIC KEY BLOCK-----
Version: GnuPG v1

mQINBFzvJpYBEADY8l1YvO7iYW5gUESyzsTGnMvVUmlV3XarBaJz9bGRmgPXh7jc
VFrQhE0L/HV7LOfoLI9H2GWYyHBqN5ERBlcA8XxG3ZvX7t9nAZPQT2Xxe3GT3tro
u5oCR+SyHN9xPnUwDuqUSvJ2eqMYb9B/Hph3OmtjG30jSNq9kOF5bBTk1hOTGPH4
K/AY0jzT6OpHfXU6ytlFsI47ZKsnTUhipGsKucQ1CXlyirndZ3V3k70YaooZ55rG
aIoAWlx2H0J7sAHmqS29N9jV9mo135d+d+TdLBXI0PXtiHzE9IPaX+ctdSUrPnp+
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pwNEF2Bv0+Jvs1UFEdVGz5a8xexQHst/RmKrtHLct3iOCvBNqoAQRbvWvBhPjO/p
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1OrJu4ktQwRhwvGVarnB8ihwjsTxZFylaLmFSfaA+OAlOqCLS1OkIVMzjW+Ul6A6
qjiCEUOsnlf4CGlhzNMZOx3low6ixzEqKOcfECpeIj80a2fBDmWkcAAjlHu6VBhA
TUDG9e2xKLzV2Z/DLYsb3+n9QW7KO0yZKfiuUo6AYboAioQKn5jh3iRvjGh2Ujpo
22G+oae3PcCc7G+z12j6xIY709FQuA49dA2YpzMda0/OX4LP56STEveDRrO+CnV6
WE+F5FaIKwb72PL4rLi4
=i0tj
-----END PGP PUBLIC KEY BLOCK-----

更新系统软件包索引

sudo apt update

执行sudo apt update更新系统软件包索引。

安装ROS

sudo apt install ros-melodic-desktop-full

执行sudo apt install ros-melodic-desktop-full安装ROS，耗时较长，静静等待完成。

激活ROS系统空间

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

分别执行echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc和source ~/.bashrc激活ROS系统空间。