Ubuntu20.04安装ROS Noetic

一、配置镜像源

1.1 设置中科大源

bash 复制代码

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

1.2 设置公钥

bash 复制代码

sudo apt install curl 
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

出现 找不到OpenPGP数据 这个报错的时候就挂梯子：

bash 复制代码

export http_proxy=http://172.17.216.239:7897
export https_proxy=http://172.17.216.239:7897

172.17.216.239是主机ip，7897是代理端口

1.3 更新软件包列表

bash 复制代码

sudo apt update

二、安装 ROS

2.1 安装完全版

bash 复制代码

sudo apt install ros-noetic-desktop-full

2.2 设置环境变量

bash 复制代码

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

2.3 下载相关依赖

bash 复制代码

sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential

2.4 rosdep 初始化

bash 复制代码

sudo rosdep init

出现报错就多试几次，可以换换梯子节点

出现 please run rosdep update即初始化成功

2.5 rosdep update 更新

bash 复制代码

rosdep update

超时就多试几次。

出现类似下面的信息即更新成功：

bash 复制代码

ljy@ljy-virtual-machine:~$ rosdep update
reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml
Skip end-of-life distro "ardent"
Skip end-of-life distro "bouncy"
Skip end-of-life distro "crystal"
Skip end-of-life distro "dashing"
Skip end-of-life distro "eloquent"
Skip end-of-life distro "foxy"
Skip end-of-life distro "galactic"
Skip end-of-life distro "groovy"
Add distro "humble"
Skip end-of-life distro "hydro"
Skip end-of-life distro "indigo"
Skip end-of-life distro "iron"
Skip end-of-life distro "jade"
Add distro "jazzy"
Add distro "kilted"
Skip end-of-life distro "kinetic"
Skip end-of-life distro "lunar"
Skip end-of-life distro "melodic"
Skip end-of-life distro "noetic"
Add distro "rolling"
updated cache in /home/ljy/.ros/rosdep/sources.cache

三、检验是否安装成功

开三个终端

第一个终端

bash 复制代码

 roscore

第二个终端

bash 复制代码

rosrun turtlesim turtlesim_node

第三个终端

bash 复制代码

 rosrun turtlesim turtle_teleop_key

可以正常通过方向键来控制小海龟的移动。