ROS-安装ROS

安装ROS

• os
• 在ubuntu18中安装ros
• • 1.安装
  • • [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)
    • • [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

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

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

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

sudo apt update

安装ros工具，推荐完整版

sudo apt install ros-melodic-desktop-full

1.5 初始化 rosdep

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

sudo apt-get install python-rosdep

报错2 ERROR: cannot download default sources

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

1. 在本地新建对应目录/etc/ros/rosdep/sources.list.d

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

2. 然后将下面内容复制粘贴到新建打开的文档中：

# 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

4. 之后在继续运行ROS安装下一步：rosdep update
5. 如果出现错误：

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

import ssl ssl._create_default_https_context = ssl._create_unverified_context

7. 如果出现错误：

<urlopen error <urlopen error [Errno 111] Connection refused>

sudo vi /etc/resolv.conf 

将原有的nameserver注释掉，添加

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

rosdep update

1.6 设置环境变量

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

1.7 安装依赖项

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

roscore

开启一个终端，启动小海龟仿真器

rosrun turtlesim turtlesim_node

开启一个终端，启动小海龟控制节点

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