ubuntu18.04安装(国内安装源gitee)ROS Melodic

国内开始学习ROS 的第一天 使用ubunut 18.04 安装ROS Melodic

版本名称： ROS Melodic Morenia
发布日期： 2018年5月23日
版本生命周期：2023年5月
系统平台：Ubuntu 17.10, Ubuntu 18.04, Debian 9, Windows 10

查看ubunut系统信息

1. cat /proc/version
2. uname -a
3. lsb_release -a

通过对应的ubuntu版本安装对应的ROS版本，因为我的电脑为18.04，所以安装ROS melodic

ubuntu系统安装完后，即可安装ROS啦

0.安装前准备

首先拷贝一份/etc/apt/sources.list文件

sudo cp -v /etc/apt/sources.list /etc/apt/sources.list.backup

vim编辑sources.list，注释里面所有内容，或者删掉也行

sudo vim /etc/apt/sources.list

清华镜像
注意：需要对应的CPU指令集，比如TX1应该找ubuntu-ports的镜像源，intel或amd 的找ubuntu镜像源
从对应的镜像中找到对应的ubunut版本的信息，复制到sources.list

##华为云：
deb http://mirrors.huaweicloud.com/ubuntu-ports/ bionic main multiverse restricted universe
deb http://mirrors.huaweicloud.com/ubuntu-ports/ bionic-backports main multiverse restricted universe
deb http://mirrors.huaweicloud.com/ubuntu-ports/ bionic-proposed main multiverse restricted universe
deb http://mirrors.huaweicloud.com/ubuntu-ports/ bionic-security main multiverse restricted universe
deb http://mirrors.huaweicloud.com/ubuntu-ports/ bionic-updates main multiverse restricted universe
deb-src http://mirrors.huaweicloud.com/ubuntu-ports/ bionic main multiverse restricted universe
deb-src http://mirrors.huaweicloud.com/ubuntu-ports/ bionic-backports main multiverse restricted universe
deb-src http://mirrors.huaweicloud.com/ubuntu-ports/ bionic-proposed main multiverse restricted universe
deb-src http://mirrors.huaweicloud.com/ubuntu-ports/ bionic-security main multiverse restricted universe
deb-src http://mirrors.huaweicloud.com/ubuntu-ports/ bionic-updates main multiverse restricted universe
## 中科大：
```bash
deb http://mirrors.ustc.edu.cn/ubuntu-ports/ bionic main multiverse restricted universe
deb http://mirrors.ustc.edu.cn/ubuntu-ports/ bionic-backports main multiverse restricted universe
deb http://mirrors.ustc.edu.cn/ubuntu-ports/ bionic-proposed main multiverse restricted universe
deb http://mirrors.ustc.edu.cn/ubuntu-ports/ bionic-security main multiverse restricted universe
deb http://mirrors.ustc.edu.cn/ubuntu-ports/ bionic-updates main multiverse restricted universe
deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ bionic main multiverse restricted universe
deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ bionic-backports main multiverse restricted universe
deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ bionic-proposed main multiverse restricted universe
deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ bionic-security main multiverse restricted universe
deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ bionic-updates main multiverse restricted universe

重新执行

sudo apt-get update
sudo apt-get upgrade

1.设置安装源

官方安装源

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

清华安装源

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'

中科大安装源

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

2.设置KEY

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

3.安装

sudo apt-get install ros-melodic-desktop-full

如果出现安装失败或者连接超时，多试几次该指令
如果出现以下情况：
重新执行

sudo apt-get update
sudo apt-get upgrade

4.安装构建依赖

sudo apt-get install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential

5. 初始化rosdep

rosdep 是ROS中自带的工具，主要功能是为某些功能安装包安装系统依赖，同时也是某些ROS核心功能包必须用到的工具。(下面会出现问题哟！）

sudo rosdep init
rosdep update

6.配置环境变量

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

理想情况下执行完上述步骤未出现问题，那就ROS就安装成功啦，测试一下

roscore

问题

第五步 初始化rosdep 执行 sudo rosdep init会出现错误
原因是境外资源被屏蔽
解决办法是将资源备份到gitee，修改rosdep源码，重新定位资源

方法:
1.先打开资源备份路径:https://gitee.com/ssonic/rosdistro，打开 rosdistro/rosdep/sources.list.d/20-default.list文件留作备用(主要是复用URL的部分内容:gitee.com/ssonic/rosdistro/raw/master)。

2.进入"/usr/lib/python3/dist-packages/" 查找rosdep中和raw.githubusercontent.com相关的内容，调用命令:

find . -type f | xargs grep "raw.githubusercontent"

3.修改相关文件，主要有:

./rosdistro/__init__.py
./rosdep2/gbpdistro_support.py
./rosdep2/sources_list.py
./rosdep2/rep3.py
可以使用sudo gedit命令修改文件:

sudo vim ./rosdistro/__init__.py
DEFAULT_INDEX_URL = 'https://gitee.com/ssonic/rosdistro/raw/master/index-
v4.yaml'
sudo vim ./rosdep2/gbpdistro_support.py
FUERTE_GBPDISTRO_URL = 'https://gitee.com/ssonic/rosdistro/' \
 'raw/master/releases/fuerte.yaml'
 
sudo vim ./rosdep2/sources_list.py 
DEFAULT_SOURCES_LIST_URL = 'https://gitee.com/ssonic/rosdistro/raw/master/rosdep/sources.list.d/20-default.list'
sudo vim ./rosdep2/rep3.py
REP3_TARGETS_URL = 'https://gitee.com/ssonic/rosdistro/raw/master/releases/targets.yaml'

文件中涉及的 URL 内容，如果是:raw.githubusercontent.com/ros/rosdistro/master都替换成步骤1中准备的gitee.com/ssonic/rosdistro/raw/master即可。

修改完毕，再重新执行命令:

sudo rosdep init
rosdep update

就可以正常实现 rosdep 的初始化与更新了。