操作Linux系统并安装ubantu20.04对应的neotic版本ROS（2020版）过程及存在的部分问题

一、查询ubantu版本号命令
（目的是找到自己的ubantu版本，然后上网搜索对应的ROS版本，如果版本不对应会出现许多阻止安装成功的因素，一定要注意自己的版本！！！）

# cat /etc/issue

# cat /proc/version

# uname -a

# lsb_release -a

二、安装ubantu20.04后首先应该更新一下软件源，否则可能出现在下载软件时出现无法定位软件包的情况
(1)首先输入:

sudo gedit /etc/apt/sources.list

(2)添加下面这些源（许多高校都有自己的源，可以上网自行搜索）：

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

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

添加之后进行：

sudo apt update
sudo apt upgrade

三、进行ROS安装（一步步操作即可）
参考官网教程：http://wiki.ros.org/noetic/Installation/Ubuntu
1、Setup your sources.list

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

2、Set up your keys

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

3、Installation

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

4、Environment setup

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

5、测试是否安装成功
（1）打开一个终端，Ctrl+Alt+T
输入：

roscore //表示已经启动ROS系统，可以进行相关操作

（2）打开另一个终端，并输入：

rosrun turtlesim turtlesim_node //小乌龟被打开

neotic版本的小乌龟有很多形态，很有趣

（3）打开第三个终端，对小乌龟进行控制（按上下左右键）：

rosrun turtlesim turtle_teleop_key //必须停留在终端窗口

6、至此，ROS系统安装完成