安装ROS
- os
- 在ubuntu18中安装ros
-
- 1.安装
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- [1.1 ubuntu18 配置阿里源](#1.1 ubuntu18 配置阿里源)
- [1.2 设置sources.list](#1.2 设置sources.list)
- [1.4 安装](#1.4 安装)
- [1.5 初始化 rosdep](#1.5 初始化 rosdep)
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- [报错1 sudo: rosdep：找不到命令](#报错1 sudo: rosdep：找不到命令)
- [报错2 ERROR: cannot download default sources](#报错2 ERROR: cannot download default sources)
- [1.6 设置环境变量](#1.6 设置环境变量)
- [1.7 安装依赖项](#1.7 安装依赖项)
- 测试
os
系统：ubuntu18.04
ros：Melodic
在ubuntu18中安装ros
1.安装
1.1 ubuntu18 配置阿里源
这个可以去搜索怎么修改阿里源
1.2 设置sources.list
这个是ros的ubuntu官方源，但是下载很慢
bash
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'建议使用阿里源
bash
sudo sh -c '. /etc/lsb-release && echo "deb https://mirrors.aliyun.com/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'或者直接在/etc/apt/sources.list.d/ros-latest.list中添加
bash
deb https://mirrors.aliyun.com/ros/ubuntu/ bionic main
```bash
### 1.3 设置密钥
```bash
curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | sudo apt-key add -1.4 安装
先更新源
bash
sudo apt update安装ros工具，推荐完整版
bash
sudo apt install ros-melodic-desktop-full1.5 初始化 rosdep
bash
sudo rosdep init
rosdep update但是这里会报错，
报错1 sudo: rosdep：找不到命令
解决方法
bash
sudo apt-get install python-rosdep报错2 ERROR: cannot download default sources
bash
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.解决方法
- 在本地新建对应目录/etc/ros/rosdep/sources.list.d
bash
sudo mkdir -p /etc/ros/rosdep/sources.list.d
cd /etc/ros/rosdep/sources.list.d
sudo gedit 20-default.list- 然后将下面内容复制粘贴到新建打开的文档中：
bash
# 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- 之后在继续运行ROS安装下一步：rosdep update
- 如果出现错误：
bash
ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml]:<urlopen error [SSL: CERTIFICATE_VERIFY_FAILED] certificate verify failed (_ssl.c:590)> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml)在/usr/lib/python2.7/dist-packages/rosdep2/sources_list.py中顶部直接插入两行代码取消SSL验证
bash
import ssl ssl._create_default_https_context = ssl._create_unverified_context- 如果出现错误：
bash
<urlopen error <urlopen error [Errno 111] Connection refused>
bash
sudo vi /etc/resolv.conf 将原有的nameserver注释掉，添加
bash
nameserver 8.8.8.8 #google域名服务器
nameserver 8.8.4.4 #google域名服务器以上操作完后
bash
rosdep update1.6 设置环境变量
bash
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc1.7 安装依赖项
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sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential测试
开启一个终端，启动ros master
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roscore开启一个终端，启动小海龟仿真器
bash
rosrun turtlesim turtlesim_node开启一个终端，启动小海龟控制节点
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rosrun turtlesim turtle_teleop_key到这里如果可以用方向键控制小海龟移动，ros就安装成功了