Ubuntu18安装Ros Melodic

1. 替换源
   

2. 设置源
   国外源：

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

   国内源：
   科大

   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'
   

   清华

   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'
   

3. 设置密钥

   sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654
   

4. 安装

   sudo apt-get update
   sudo apt-get install ros-melodic-desktop-full
   sudo apt-get install ros-melodic-rqt*
   

5. 初始化

   sudo rosdep init
   rosdep update
   

   sudo rosdep init出错

   // 问题1
   sudo:rosdep:command not found 
   // 解决：python版本不对
   sudo apt install python-rosdep
   
   //问题2
   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.
   // 解决办法
   换个网络尝试，比如手机热点等。
   
   //问题3
   default sources list file already exists 
   //解决办法
   //删除报错文件
   sudo rm /etc/ros/rosdep/sources.list.d/20-default.list
   //重新执行
   sudo rosdep init
   

   rosdep update超时，问题解决参考链接。

6. 安装python-rosinstall

   sudo apt-get install python-rosinstall
   

7. 加载环境设置文件

   source /opt/ros/melodic/setup.bash
   

8. 运行roscore查看是否安装成功