#ROS:unbuntu 18.04 安装ROS
文章目录
前言
第一次写博客，如有不足，还请见谅
一、更换阿里源
sudo vim /etc/apt/sources.list
deb http://mirrors.aliyun.com/ubuntu/ trusty main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ trusty-security main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ trusty-updates main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ trusty-proposed main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ trusty-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ trusty main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ trusty-security main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ trusty-updates main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ trusty-proposed main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ trusty-backports main restricted universe multiverse
注:输入a进行编辑模式，按esc退出编辑模式，:wq保存退出文件,:%d文件内容清空
- 执行更新
sudo apt-get update
二、安装ROS
- 添加ROS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'
- 添加密钥:
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
- 安装ROS:
sudo apt update
apt install ros-melodic-desktop-full
- 初始化ROS
sudo rosdep init
rosdep update
- 设置环境变量
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
- 安装rosinstall
sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
- 验证ROS是否安装成功
roscore
三、安装ROS时可能会碰到的问题
-
sudo rosdep init时出现sudo rosdep:找不到命令提示
解决方法：sudo apt install python-rosdep2
然后再输入：sudo rosdep init
如果出现错误提示：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:sudo vim /etc/hosts
添加：199.232.28.133 raw.githubusercontent.com -
rosdep update时报错，建议挂个vpn，一下就成功了，用其他办法一直没成功，所以就不列出来
-
roscore报错，找不到roscore
解决方法：sudo apt install python-roslaunch
如果报错，未满足的依赖关系
接着输入：
git clone https://github.com/ros/catkin.git
cd catkin
git branch melodic-devel
mkdir build
cd build
cmake ..
make
sudo make install
cd ..
python2 setup.py install
python3 setup.py install
如果显示缺少模块之类的，按照指示安装就好
cd
mkdir src
catkin_make
sudo apt install ros-melodic-desktop-full
rosdep update
cd
source ~/.bashrc