1. 切换国内源(不是必须)
(1)备份一份文件,防止误操作无法复原
sudo cp /etc/apt/sources.list /etc/apt/sources.list.backup
(2)修改sources.list
sudo vim /etc/apt/sources.list
把内容全部删除,然后用下面的清华源替代。
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-updates main restricted universe multiverse
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-updates main restricted universe multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-security main restricted universe multiverse
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-security main restricted universe multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-backports main restricted universe multiverse
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-backports main restricted universe multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic main universe restricted
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic main universe restricted
然后更新源
sudo apt update
参考链接
NVIDIA Jetson TX2 or AGX Xavier apt切换国内的源_圣右的博客-CSDN博客_jetson 换源
2. 设置安装源
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'
3. 设置密钥
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654 sudo apt update
4. 安装ROS Melodic
sudo apt-get install ros-melodic-desktop-full
sudo apt install python-rosdep
sudo rosdep init
参考链接
Ubuntu18.04安装ROS Melodic(详细,亲测安装完成,有清晰的截图步骤)_爱跑步的mango的博客-CSDN博客_ubuntu18.04安装ros
这里如果没问题直接跳到第6部分内容rosdep update,如果有问题往下看。
5. 解决ros init 初始化的问题
先用手机热点试一下能不能成功,实在不行,再使用如下的终极办法!!
cd ~
pwd #查看home目录
比如我的是 /home/nvidia
在/home/nvidia目录下,新建一个ros文件夹,
mkdir ros
把压缩包把rosdistro.zip解压进去,压缩文件我放网盘了。
链接:https://pan.baidu.com/s/1T3zgKhETW20NXd784RF6rQ
提取码:crc0
打开20-default.list的文件
vim rosdistro\rosdep\sources.list.d\20-default.list
内容如下所示:
# os-specific listings first
yaml file:/home/nvidia/ros/rosdistro/rosdep/osx-homebrew.yaml osx# generic
yaml file:/home/nvidia/ros/rosdistro/rosdep/base.yaml
yaml file:/home/nvidia/ros/rosdistro/rosdep/python.yaml
yaml file:/home/nvidia/ros/rosdistro/rosdep/ruby.yaml
gbpdistro file:/home/nvidia/ros/rosdistro/releases/fuerte.yaml fuerte# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead
把所有的nvidia修改成你自己的用户名,然后保存。
如果你已经使用了上文的命令安装了rosdep,命令下面
sudo apt install python-rosdep
那么,现在需要修改4个文件的默认路径为rosdistro文件的本地路径。
5.1 第一个文件
cd /usr/lib/python2.7/dist-packages/rosdep2/
sudo gedit gbpdistro_support.py
修改为
FUERTE_GBPDISTRO_URL = 'file:/home/nvidia/ros/rosdistro/releases/fuerte.yaml'
5.2 第二个文件
cd /usr/lib/python2.7/dist-packages/rosdep2/
sudo gedit rep3.py
修改为
REP3_TARGETS_URL = 'file:/home/nvidia/ros/rosdistro/releases/targets.yaml'
5.3 第三个文件
cd /usr/lib/python2.7/dist-packages/rosdistro/
sudo gedit __init__.py
修改为
DEFAULT_INDEX_URL = 'file:/home/nvidia/ros/rosdistro/index-v4.yaml'
5.4 第四个文件
cd /usr/lib/python2.7/dist-packages/rosdep2/
sudo vim source_list.py
修改为
DEFAULT_SOURCES_LIST_URL = 'file:/home/nvidia/ros/rosdistro/rosdep/sources.list.d/20- default.list'
注意:/home/nvidia改成你自己电脑的用户名。
6. rosdep update
rosdep init
rosdep update
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
roscore
另起一个终端,输入
rviz
如果有rviz的窗口,说明ros安装完成。
参考链接:
rosdep init/update 解决方法_CCsherlock的博客-CSDN博客_rosdep update
如果整个流程还有其他问题,欢迎评论反馈,我会解决问题更新该文章内容。