ubuntu18安装ros

记录Ubuntu18安装ros系统

一、换阿里源

换阿里源链接

二、配置软件和更新设置

为了能顺利更新
这里我电脑连接手机开的网络热点

三、开始安装

参考wiki进行安装ros安装官网
注意这里安装过程全程用手机热点

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
   

   开始安装ros
   如果有提示下载失败，为网络问题，重新执行一次命令即可。

4. Initialize rosdep

    sudo rosdep init
   

   安装停在了这里
   这里给出我的解决办法来代替sudo rosdep init

   保证网络畅通打开这个提示网址：
   https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
   复制这段内容

   # 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
   

   终端执行命令手动创建文件

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

   将内容粘贴保存,问题解决。
   
   接下来执行命令

   rosdep update
   

   如果出现网络错误请重新输入命令直到成功
   
   

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机器人系统安装成功！

四、运行小乌龟

roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key