win11+虚拟机ubantu20.04 下载ros (noetic) 2022.5.28

win11+虚拟机ubantu20.04 下载ros (noetic) 2022.5.28

0、更换总的软件源

sudo sh -c 'echo "deb http://mirrors.aliyun.com/ubuntu focal main multiverse restricted universe
deb http://mirrors.aliyun.com/ubuntu focal-updates main multiverse restricted universe
deb http://mirrors.aliyun.com/ubuntu focal-security main multiverse restricted universe
deb http://mirrors.aliyun.com/ubuntu focal-proposed main multiverse restricted universe
deb http://mirrors.aliyun.com/ubuntu focal-backports main multiverse restricted universe" > /etc/apt/sources.list'

1、添加ROS软件源

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

添加国内源（速度快）

中科大

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（推荐）

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

2、添加密钥

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

3、更新软件源

sudo apt update

4、开始安装ROS

sudo apt install ros-noetic-desktop-full

耗时会很长

5、初始化rosdep

sudo apt install python3-rosdep2

先检测一下是否能访问 raw.githubusercontent.com

ping raw.githubusercontent.com

这样表示能访问，按ctrl+c可停止。

若不能访问 ，则需查询 raw.githubusercontent.com 的IP地址

用于查询IP的网址： https://ping.chinaz.com

sudo gedit /etc/hosts

在末尾添加入下语句

185.199.110.133 raw.githubusercontent.com

若有如下错误：
ERROR: default sources list file already exists: /etc/ros /rosdep/sources.list.d/20-default.listPlease delete if you wish to re-initialize
输入以下命令：

 sudo rm /etc/ros/rosdep/sources.list.d/20-default.list

终于可以进行初始化

 sudo rosdep init

6、更新rosdep

rosdep update

如果上述没成功请参考此链接执行手动下载

https://blog.csdn.net/zbw1185/article/details/123807654

7、设置环境变量

输入以下命令：

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

source ~/.bashrc

8、 安装rosinstall

输入以下命令：

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

9、 验证ROS是否安装成功

roscore

​