Ubuntu18.04安装ROS Melodic

Posted 2021-08-28 BkbK-

Ubuntu18.04安装ROS Melodic

文章目录

• Ubuntu18.04安装ROS Melodic
• • 1.设置软件源
  • 2.设置最新的密钥
  • 3.更新源
  • 4.安装ros
  • 5.初始化rosdep
  • 6.更新rosdep
  • 7.添加ROS环境变量
  • 8.使环境变量生效
  • 9.安装命令行工具rosinstall
  • 10.测试

1.设置软件源

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

2.设置最新的密钥

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

3.更新源

sudo apt-get update

4.安装ros

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

5.初始化rosdep

sudo rosdep init

出现 sudo: rosdep：找不到命令
解决办法：安装python-rosdep

sudo apt-get install python-rosdep

再次执行初始化：
出现如下错误：

$ sudo rosdep init
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0：

  使用手机热点。

• 解决办法1：

  打开文件/etc/hosts：

  sudo gedit /etc/hosts
  

  在文件末尾添加如下内容：

  199.232.28.133 raw.githubusercontent.com
  151.101.228.133 raw.github.com

  保存退出。

成功执行如下：

• 解决办法2：

  切换root用户

  sudo passwd    //接着提示输密码，输入你的用户密码即可
  

  sudo su //或者su root 然后输入密码切换至root用户
  

  创建文件夹

  sudo mkdir -p /etc/ros/rosdep/sources.list.d
  

  进入文件夹

  cd /etc/ros/rosdep/sources.list.d
  

  编辑文件

  sudo gedit 20-default.list
  

  添加如下内容

  # 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
  

  退出root用户

  exit 
  

  上述命令完成后可以进行第六步：更新rosdep

6.更新rosdep

rosdep update

7.添加ROS环境变量

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

8.使环境变量生效

source ~/.bashrc

9.安装命令行工具rosinstall

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

10.测试

roscore

ROS安装成功！