一、正常安装步骤:
- 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'
- 添加密钥
$ sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
- 安装ROS
$ sudo apt update
$ sudo apt install ros-melodic-desktop-full
- 初始化rosdep
$ sudo rosdep init
$ rosdep update
- 设置环境变量
$ echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
$ source ~/.bashrc
- 安装rosinstall
$ sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential
二、可能会遇到的问题
1、初始化指令失败
安装完ROS后,初始化指令sudo rosdep init失败,提示: sudo: rosdep:command not found
按照以下方式解决:
sudo apt install rospack-tools
2、安装完ROS后,初始sudo rosdep init失败
显示:
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.
解决办法:
1、首先 /etc 目录下打开终端,输入以下命令以更改hosts文件权限
cd /etc
sudo chmod a+rw hosts
2、接着用gedit打开hosts文件,在文件末尾添加以下内容,并保存后退出
151.101.84.133 raw.githubusercontent.com
3、roscore不能执行
1、安装结束后,输入:
roscore
2、报错:
Command ‘roscore’ not found, but can be installed with:
sudo apt install python-roslaunch
根据提示输入: sudo apt install python-roslaunch
报错:
E: Unable to correct problems, you have held broken packages.
3、指令 “roscore” 之所以能够被执行,首先需要在文件夹 “/opt/ros/indigo/bin/” 里面存在名为 “roscore” 的二进制可执行文件,打开文件夹,检查文件是否存在:
cd /opt/ros/melodic/bin
ls -l
4、当发现不存在后,通过安装桌面版来补全缺失的文件
sudo apt-get install ros-melodic-desktop
5、cd进去看下是否有roscore,同3步骤,若有,则按6步骤做
6、执行
source ~/.bashrc
7、再次执行roscore
roscore