ROS安装

安装ROS：

一、sudo apt install ros-melodic-desktop-full报错

注意安装源的问题，

gedit /etc/apt/sources.list

添加镜像源

#添加阿里源

deb http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse

deb http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse

deb http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse

deb http://mirrors.aliyun.com/ubuntu/ bionic-proposed main restricted universe multiverse

deb http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse

#中科大源

deb https://mirrors.ustc.edu.cn/ubuntu/ bionic main restricted universe multiverse

deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse

deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse

deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-security main restricted universe multiverse

deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse

#163源

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

#清华源

deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse

deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse

deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse

deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse

deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse

二、rosdep update失败需要连接VPN

三、跑中科大ROS教程的时，ubuntu18.04下载melodic版本的源代码，如果catkin_make无法编译，则

conda install setuptools

pip install -U rosdep rosinstall_generator wstool rosinstall six vcstools

四、此外，gazebo9.0无法运行软件包，需要更新至9.0+版本

\1. sudo sh -c ‘echo “deb http://packages.osrfoundation.org/gazebo/ubuntu-stable lsb_release -cs main” > /etc/apt/sources.list.d/gazebo-stable.list’

\2. wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -

\3. sudo apt-get update

\4. sudo apt-get install gazebo9

五、若gazebo仿真环境无法打开

sudo apt upgrade， 出现窗口直接回车

六．rqt_graph: command not found

# 替换为自己电脑上对应的ROS版本

sudo apt-get install ros--rqt ros--rqt-common-plugins ros--turtlesim