GTH log: ROS installation

Ian Ge

已于 2023-12-30 04:48:34 修改

阅读量882

点赞数

分类专栏： ROS ubuntu 文章标签： ubuntu

于 2022-01-20 00:39:34 首次发布

本文链接：https://blog.csdn.net/weixin_46683286/article/details/122591769

版权

ROS 同时被 2 个专栏收录

1 篇文章 0 订阅

订阅专栏

ubuntu

1 篇文章 0 订阅

订阅专栏

日期：2022年1月19日
设备：IansOMEN
系统：Windows 11 家庭中文版 22000.434
CFW profile: ikuuu
WSL version: 2
WSL kernel version: 5.10.60.1
WSL distribution: Ubuntu-18.04

设置最新的密钥

ROS官网安装教程：Ubuntu install of ROS Melodic
在1.3 Set up your keys这一步就遇到了可疑的返回信息

gpg: no valid OpenPGP data found.

好像是老问题了，上CSDN找个安装教程，轻松找到

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654

换源

接着上更新和安装命令

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

果然，就报一堆Err，仔细看看一看就会发现，大部分（其实就是全部）都是连不上服务器。
打开~/.bashrc一看，果然当时装子系统的时候就没有准备好代理，于是查了一下CFW里面的LAN地址，在最后加上

# WSL using CFW LAN
export all_proxy="socks5://172.17.32.1:7890"

拿油管做测试，没有返回信息，确实是连上了

source ~/.bashrc
curl www.youtube.com

重新给更新和安装命令，还是连不上服务器，这里我怀疑是我的节点不行，换了几个尝试，都不能完全解决问题。最后放弃撞墙，还是换源吧。

先将原先的进行一个备份

sudo cp /etc/apt/sources.list /etc/apt/sourses.list_bk

然后将source.list文件内容换掉，阿里云源、中科大源、清华源，随便选一个

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

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

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

最后，直接上更新命令，让它重新加载一遍源地址，轻松秒杀

sudo apt update

不用怀疑，安装命令也能跑了

sudo apt install ros-melodic-desktop-full

rosdep init manual workaround

继续跟着官方教程走，需要注意的是，官方教程是先让你手动安装了很多编译所需的依赖库，这与一些博客中写的不一样，大概是因为之前这些依赖库可能会在安装的时候就被带着装进来了，因此也没有产生问题。如果只是跑完上面的安装命令，就直接sudo rosdep init会遇到没装库的问题。
然而就算你把库装齐全了，还是会卡壳：

ERROR: cannot download default sources list from:
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
Website may be down.

用浏览器能够访问这个网址，就是一个小文件

# os-specific listings first
yaml https://raw.githubusercontent.com/ros/rosdistro/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

# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead

能搜到这个closed issue: rosdep init gives “Website may be down.”
按说，把文件复制到/etc/ros/rosdep/sources.list.d/20-default.list也算是一个workaround吧

代理

行吧OK咱接着搞

rosdep update

还是

reading in sources list data from /etc/ros/rosdep/sources.list.d
ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml]:
        <urlopen error [Errno 111] Connection refused> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml)
ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml]:
        <urlopen error [Errno 111] Connection refused> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml)
ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml]:
        <urlopen error [Errno 111] Connection refused> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml)
ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml]:
        <urlopen error [Errno 111] Connection refused> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml)
ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml]:
        Failed to download target platform data for gbpdistro:
        <urlopen error [Errno 111] Connection refused>
Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml
ERROR: error loading sources list:
        <urlopen error <urlopen error [Errno 111] Connection refused> (https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml)>

换源应该没法解决github被墙的问题，找到这篇博客确认了我的想法：rosdep init 及update报错的解决办法汇总（亲测）
并且博文也提醒了我，让我反思自己最开始设置代理的方式，确实是比较粗暴，不管你是什么协议，都给我去用socks5，的确不够温柔，于是我

export http_proxy=http://172.17.32.1:7890
export https_proxy=http://172.17.32.1:7890
export socks_proxy=socks5://172.17.32.1:7890

果然，就动起来了

reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml
Skip end-of-life distro "ardent"
Skip end-of-life distro "bouncy"
Skip end-of-life distro "crystal"
Skip end-of-life distro "dashing"
Skip end-of-life distro "eloquent"
Add distro "foxy"
Add distro "galactic"
Skip end-of-life distro "groovy"
Skip end-of-life distro "hydro"
Skip end-of-life distro "indigo"
Skip end-of-life distro "jade"
Skip end-of-life distro "kinetic"
Skip end-of-life distro "lunar"
Add distro "melodic"
Add distro "noetic"
Add distro "rolling"
updated cache in /home/ian/.ros/rosdep/sources.cache