ROS系统安装（转）

感谢 古月up主：https://www.bilibili.com/video/BV1zt411G7Vn?p=5

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跟着视频一步步基本没有什么问题，安装的镜像参考以下链接，感谢啦！（侵权删除）

https://blog.csdn.net/haiyinshushe/article/details/84256137

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也可以去官网查看教程：

http://wiki.ros.org/melodic/Installation/Ubuntu

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温馨提示：小心提示“无法定位软件包”..............具体参考了以下博主的教程：

https://blog.csdn.net/weixin_41326361/article/details/97811275?utm_medium=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-8.channel_param&depth_1-utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-8.channel_param

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以下是我的安装步骤：

1、使用的是国内镜像

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'

2、密匙

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

3、下载成功后更新：sudo apt update

4、安装ros：sudo apt install ros-melodic-desktop-full

5、初始化：sudo rosdep init

【出现错误：sudo rosdep init 命令报错，参考链接：

https://blog.csdn.net/u014662384/article/details/106916673?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522159758863519195162511823%2522%252C%2522scm%2522%253A%252220140713.130102334..%2522%257D&request_id=159758863519195162511823&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~first_rank_ecpm_v3~pc_rank_v2-1-106916673.first_rank_ecpm_v3_pc_rank_v2&utm_term=sudo%3A+rosdep%EF%BC%9A%E6%89%BE%E4%B8%8D%E5%88%B0%E5%91%BD%E4%BB%A4&spm=1018.2118.3001.4187】

①sudo apt install rospack-tools
【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.】

参考以下博客：https://blog.csdn.net/weixin_43288910/article/details/105627358?utm_medium=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-1.channel_param&depth_1-utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-1.channel_param

②sudo vi /etc/hosts

 199.232.28.133 raw.githubusercontent.com

最后保存修改的host文件，参考以下博客：

https://www.cnblogs.com/henryhappier/archive/2013/02/21/2920493.html

https://community.bwbot.org/topic/811/rosdep-init-%E6%88%96%E8%80%85rosdep-update-%E8%BF%9E%E6%8E%A5%E9%94%99%E8%AF%AF%E7%9A%84%E8%A7%A3%E5%86%B3%E5%8A%9E%E6%B3%95

③：wq

④sudo rosdep init

6、更新rosdep：rosdep update

【如果出现时间超时，建议无线和个人热点切换一下，我是连接的学校网络，下载成功了】

7、配置环境变量：

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
【如果出现bash: source/opt/ros/melodic/setup.bash: 没有那个文件或目录】可能是没有，也可能是格式不对，检查是否是“source /opt/ros/melodic/setup.bash”

①gedit .bashrc
②如果没有的话，最后添加：source /opt/ros/melodic/setup.bash

以后安装步骤请参考

https://mp.weixin.qq.com/s?__biz=MzAwNTg5NzUyOA==&mid=2247483871&idx=1&sn=be25e6fdecdb04074ea30f6b6a290b80&chksm=9b14ed88ac63649ed8e0c22d7a7a016cfb036019692d6390027c85da768342d923189762a6fa&token=1286081943&lang=zh_CN#rd

8、安装rosinstall：sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential

9、安装成功检查：

https://www.cnblogs.com/iwehdio/p/12721349.html

roscore