参考：https://zhuanlan.zhihu.com/p/392082731

sudo rosdep init

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

将以下复制进去，保存即可

# 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

rosdep update

1.打开包含资源下载函数的文件：

sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py

2. 在311行处添加代理：

url="https://ghproxy.com/"+url

下面是代码修改的位置

def download_rosdep_data(url):
    """
    :raises: :exc:`DownloadFailure` If data cannot be
        retrieved (e.g. 404, bad YAML format, server down).
    """
    try:
        # http/https URLs need custom requests to specify the user-agent, since some repositories reject
        # requests from the default user-agent.
        url="https://ghproxy.com/"+url

3. 修改/usr/lib/python2.7/dist-packages/rosdistro/init.py文件中的DEFAULT_INDEX_URL

 sudo gedit /usr/lib/python2.7/dist-packages/rosdistro/__init__.py

ctrl f 搜索一下DEFAULT_INDEX_URL，将这一行改为

EFAULT_INDEX_URL = 'https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml'

4. 修改其余（4个）文件中的地址，在地址 https://raw.githubusercontent.com/… 前添加https://ghproxy.com/

sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/gbpdistro_support.py
//修改第36行的地址
sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py 72行
//修改第72行
sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/rep3.py
//修改第39行
sudo gedit /usr/lib/python2.7/dist-packages/rosdistro/manifest_provider/github.py
//修改第68行、119行

5. 解决 Hit 第五个地址的报错

sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/gbpdistro_support.py 
//在第204行添加如下代码（即在该函数块下的第一行处）
gbpdistro_url = "https://ghproxy.com/" + gbpdistro_url
//注意，原网址中代理地址的双引号是中文，直接粘贴复制会报字符识别错误

我加在了这里

def download_gbpdistro_as_rosdep_data(gbpdistro_url, targets_url=None):
    """
    Download gbpdistro file from web and convert format to rosdep distro data.

    DEPRECATED: see REP137. This function will output
                (at least) one deprecation warning

    :param gbpdistro_url: url of gbpdistro file, ``str``
    :param target_url: override URL of platform targets file
    :raises: :exc:`DownloadFailure`
    :raises: :exc:`InvalidData` If targets file does not pass cursory
     validation checks.
    """
    # we can convert a gbpdistro file into rosdep data by following a
    # couple rules
    # will output a warning
    gbpdistro_url = "https://ghproxy.com/" + gbpdistro_url

6. 再次运行 rosdep update ，发现问题完美解决！