如果你的Ubuntu18.04是新安装的,还没有没有配置Ubuntu的下载源你需要先修改下载源。
先对下载源进行备份
sudo cp /etc/apt/sources.list /etc/apt/sources.list.bak
然后执行指令对下载源进行编辑
sudo gedit /etc/apt/sources.list
清空文件中的内容,将以下内容粘贴在该文件中
deb http://mirrors.163.com/ubuntu/ bionic main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ bionic-security main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ bionic-updates main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ bionic-proposed main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ bionic-backports main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ bionic main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ bionic-security main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ bionic-updates main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ bionic-proposed main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ bionic-backports main restricted universe multiverse
然后执行指令,更新下载源
sudo apt-get update
成功之后需要对software Ubuntu进行配置
选择Settings
打开软件和更新对话框,确保"restricted", “universe,” 和 "multiverse."前是打上勾,然后将Download From修改为国内的。
之后对Updates进行设置,确保install updates from下的三个选项都被勾选。
将ROS的下载源修改为中国科技大学
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'
导入key
sudo apt-key adv --keyserver 'hkp://pgp.mit.edu:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
修改houst
sudo vi /etc/hosts
将以下内容粘贴在文件最后
199.232.4.133 raw.githubusercontent.com
在做完所有准备工作后开始正式安装ROS
执行以下指令安装ROS
sudo apt update
sudo apt install ros-melodic-desktop-full
初始化ros
sudo rosdep init
rosdep update
rosdep update time out 问题的解决办法
执行指令
sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py
将DOWNLOAD_TIMEOUT = 15.0的值修改的大一些,我将其设置为了500。
接着执行指令
sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/rep3.py
将DOWNLOAD_TIMEOUT = 15.0的值修改的大一些,我将其设置为了500。
最后执行指令
sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/gbpdistro_support.py
将DOWNLOAD_TIMEOUT = 15.0的值修改的大一些,我将其设置为了500。
在完成以上内容后,执行指令
rosdep update
环境设定
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
构建软件包的依赖关系
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential
测试是否安装成功
开启终端一 执行指令
roscore
开启终端二 执行指令
rosrun turtlesim turtlesim_node
开启终端三 执行指令
rosrun turtlesim turtle_teleop_key