ubuntu18安裝ros

記錄Ubuntu18安裝ros系統

一、換阿里源

換阿里源鏈接

二、配置軟件和更新設置

爲了能順利更新
這裏我電腦連接手機開的網絡熱點

三、開始安裝

參考wiki進行安裝ros安裝官網
注意這裏安裝過程全程用手機熱點

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-melodic-desktop-full
   

   開始安裝ros
   如果有提示下載失敗，爲網絡問題，重新執行一次命令即可。

4. Initialize rosdep

    sudo rosdep init
   

   安裝停在了這裏
   這裏給出我的解決辦法來代替sudo rosdep init

   保證網絡暢通打開這個提示網址：
   https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
   複製這段內容

   # 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
   
   
   ########
   
   # os-specific listings first
   #yaml https://raw.github.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx
   
   # generic
   #yaml https://raw.github.com/ros/rosdistro/master/rosdep/base.yaml
   #yaml https://raw.github.com/ros/rosdistro/master/rosdep/python.yaml
   #yaml https://raw.github.com/ros/rosdistro/master/rosdep/ruby.yaml
   #gbpdistro https://raw.github.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
   

   終端執行命令手動創建文件

   sudo mkdir -p /etc/ros/rosdep/sources.list.d
   cd /etc/ros/rosdep/sources.list.d
   sudo gedit 20-default.list
   

   將內容粘貼保存,問題解決。
   
   接下來執行命令

   rosdep update
   

   如果出現網絡錯誤請重新輸入命令直到成功
   
   

5. Environment setup

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

   source ~/.bashrc
   

6. Dependencies for building packages

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

到此ros機器人系統安裝成功！

四、運行小烏龜

roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key