ubuntu18.04安装Ros Melodic

问题描述

参考文章：https://blog.csdn.net/CH_monsy/article/details/107346203

在执行sudo rosdep init时一直连接不上国外的网站
现将完整安装步骤记录如下：

在安装之前先设置一下ubuntu的软件库

运行这个东西

把配置改成这个样子之后就可以开始ros的安装了

一、更改Ubuntu软件源
更改之后可提升ros相关软件包安装速度
输入命令：

sudo gedit /etc/apt/sources.list

将配置文件修改如下

# deb cdrom:[Ubuntu 16.04 LTS _Xenial Xerus_ - Release amd64 (20160420.1)]/ xenial main restricted
deb-src http://archive.ubuntu.com/ubuntu xenial main restricted #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial main restricted
deb-src http://mirrors.aliyun.com/ubuntu/ xenial main restricted multiverse universe #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted multiverse universe #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial universe
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates universe
deb http://mirrors.aliyun.com/ubuntu/ xenial multiverse
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates multiverse
deb http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse #Added by software-properties
deb http://archive.canonical.com/ubuntu xenial partner
deb-src http://archive.canonical.com/ubuntu xenial partner
deb http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted multiverse universe #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial-security universe
deb http://mirrors.aliyun.com/ubuntu/ xenial-security multiverse

deb http://mirrors.aliyun.com/ubuntu/ bionic main universe restricted multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic main universe restricted multiverse #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ bionic-updates main universe restricted multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-updates main universe restricted multiverse #Added by software-properties
deb http://security.ubuntu.com/ubuntu/ bionic-security main universe restricted multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-security main universe restricted multiverse #Added by software-properties

二、开始Ros安装
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'

若上述命令下载太慢 则可用以下命令重新添加软件源

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'

2、添加密钥

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

3、安装Ros软件包
更新系统软件：

sudo apt update

下载完整版Ros-Melodic

sudo apt install ros-melodic-desktop-full

这里至关重要，有可能因为一些网络问题导致软件包下载失败，就一直运行上面的命令，直到全部安装成功为止

4、初始化rosdep
运行命令

sudo apt-get install python-rosdep

sudo rosdep init

rosdep init执行时大概率会报错 这时候采用以下方式解决（没报错的话就不用管）
（1）sudo rosdepc init提示找不到命令

sudo pip install rosdepc

(2)如果显示没有pip就试试pip3

sudo pip3 install rosdepc

(3)如果pip3还没有的话

sudo apt-get install python3-pip

sudo pip3 install rosdepc

接下来就可以用前面的命令来初始化rosdepc了

sudo rosdepc init

rosdepc update

5、设置环境变量：

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

source ~/.bashrc

6、安装ros-install

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

到这里就完成了所有ros的安装了
接下来用海龟仿真器测试一下ros

roscore &

运行完后按回车 将roscore转到后台运行

接下来启动海龟仿真器

rosrun turtlesim turtlesim_node &

上面命令完成后也是按回车 将海龟仿真器转后台运行

然后启动海龟控制器

rosrun turtlesim turtle_teleop_key

这一步就不要加&了 因为需要实时捕获按键 将鼠标点在终端上
键盘按上下左右就可以控制小海龟啦

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