ROS16.04 18.04安装注意事项与报错

ROS操作系统与ubuntu操作系统具有对应关系
Ubuntu16.04 + Kinetic版本
Ubuntu18.04 + melodic版本
Ubuntu20.04 + Noetic版本

1. 安装前在软件与更新界面全选

2. 安装前勾选推荐更新与释放更新

3. sudo rosdep init出错

3.1 ca-certificates问题

sudo apt-get install ca-certificates

3.2 系统时间同步问题

sudo apt-get install ntpdate
sudo ntpdate cn.pool.ntp.org
sudo hwclock --systohc

3.3 ssl certs问题

sudo c_rehash /etc/ssl/certs 
sudo -E rosdep init

3.4 python-rosdep问题

sudo apt-get install python-rosdep

4. rosdep update出错

4.1 sudo mkdir /ros/rosdep/sources.list.d/20-default.list再它下面手动创建20-default.list文件

# os-specific listings first
#yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx
yaml file:///etc/ros/master/rosdep/osx-homebrew.yaml osx
# generic
#yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
#yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
#yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
#gbpdistro https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml fuerte
 
yaml file:///etc/ros/master/rosdep/base.yaml
yaml file:///etc/ros/master/rosdep/python.yaml
yaml file:///etc/ros/master/rosdep/ruby.yaml
gbpdistro file:///etc/ros/master/releases/fuerte.yaml fuerte
# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead

4.2 下载master文件到/etc/ros/文件下（或从其他地方下载，根据/etc/ros/master/rosdep/等路径创建）
https://github.com/sxs505/ROS_rosdep

https://download.csdn.net/download/weixin_46214675/19328319

4.3 sudo gedit /usr/lib/python2.7/dist-packages/rosdistro/init.py

注释原有代码行

#DEFAULT_INDEX_URL = 'https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml'
DEFAULT_INDEX_URL = 'file:///etc/ros/rosdistro/master/index-v4.yaml'

5. roscore报错

添加以下语句到source之前

export ROS_HOSTNAME=localhost
export ROS_MASTER_URI=http://localhost:11311
export PATH=/usr/local/cuda-10.2/bin:$PATH 

6. catkin_make失败

可以尝试使用

catkin_make_isolated

7. 依赖问题

sudo apt-get install aptitude
sudo aptitude install ***