ubuntu20.04安装noetic版本ros

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原创 2023-11-14 16:42:12 2.2k 阅读 AI 写同款· GEO 优化 ›

Ubuntu20.04安装ROS ROS 是一个适用于机器人的开源的元操作系统。它提供了操作系统应有的服务，包括硬件抽象，底层设备控制，常用函数的实现，进程间消息传递，以及包管理。它也提供用于获取、编译、编写、和跨计算机运行代码所需的工具和库函数。在某些方面ROS相当于一种“机器人框架（robot frameworks）”。ROS 运行时的“蓝图”是一种基于ROS通信基础结构的松耦合点对点进程网络。阅读详情

文章目录

1. ubuntu设置为中文界面
2.配置Ubuntu软件仓库
3.设置sources.list
4.设置密钥
5. 安装ros
6. 设置环境
7. 测试ROS安装是否成功
8. 安装构建依赖
- 8.1 初始化rosdep

1. ubuntu设置为中文界面

Ubuntu20.04 英文界面换成中文界面

2.配置Ubuntu软件仓库

在这里插入图片描述

3.设置sources.list

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

利用 “sh -c” 命令，它可以让 bash 将一个字串作为完整的命令来执行，这样就可以将 sudo 的影响范围扩展到整条命令，这条命令的意思是把"deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main"双引号中的内容添加到/etc/apt/sources.list.d/ros-latest.list文件中。

4.设置密钥

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

5. 安装ros

安装之前先执行sudo apt update更新软件源，我们这里安装桌面完整版本：

sudo apt install ros-noetic-desktop-full

6. 设置环境

你需要在使用ROS的每个bash终端中source这个脚本。

source /opt/ros/noetic/setup.bash

而下面这些命令可以在每次启动新的shell窗口时很方便地为你自动source一下这个脚本

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

7. 测试ROS安装是否成功

在终端输入：
roscore 启动RosMaster
再新建一个终端，输入：
rosrun turtlesim turtlesim_node
再新建一个终端，输入：
rosrun turtlesim turtle_teleop_key

注意：光标必须聚焦在键盘控制窗口(turtle_teleop_key对应的)，否则无法控制乌龟运动。

8. 安装构建依赖

到这里，我们已经安装了运行核心ROS包所需的组件。要创建和管理自己的ROS工作区，需要分别分发各种工具和需求。例如，rosinstall是一个常用的命令行工具，它使您能够使用一个命令轻松地下载ROS包的许多源树。

要安装此工具和其他用于构建ROS包的依赖项，请运行

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

8.1 初始化rosdep

开始使用ROS之前，先初始化rosdep，rosdep能够轻松地安装要编译的源代码的系统依赖关系，rosdep是ROS核心组件运行的基础

rosdep是ros的一个功能包,在安装ros时会自动安装.在使用时需要初始化.ros包有两个不同类型的依赖项：build依赖项和run依赖项。rosdep就是用来检查包的丢失依赖项，并且完成下载和安装。

第一次rosdep init和update执行结果：

```bash
telpo@telpo:~$ sudo rosdep init
Wrote /etc/ros/rosdep/sources.list.d/20-default.list
Recommended: please run

rosdep update

telpo@telpo:~$ rosdep update
reading in sources list data from /etc/ros/rosdep/sources.list.d
ERROR: error loading sources list:
The read operation timed out

如果出现rosdep init失败情况，比如：

elpo@telpo:~$ sudo rosdepc init init

ERROR: Rosdep experienced an error: The read operation timed out
Please go to the rosdep page [1] and file a bug report with the stack trace below.
[1] : http://www.ros.org/wiki/rosdep

rosdep version: 0.22.2

Traceback (most recent call last):
  File "/usr/lib/python3/dist-packages/rosdep2/main.py", line 146, in rosdep_main
  ...

出现“timed out”问题主要是在国内sudo rosdep init失败主要是由于网络不通引起的，赵老师的此视频有相关介绍有两种方法可以解决：

8.1.1 采用GitHub在国内的备份网址，内网初始化的方法

sudo apt-get install python3-pip -y
sudo pip3 install rosdepc
sudo rosdepc init
rosdepc update

8.1.2 自己手动处理

如果 /etc/ros/rosdep/sources.list.d目录存在，则只需修改/etc/ros/rosdep/sources.list.d目录下的文
件，如果/etc/ros/rosdep/sources.list.d目录不存在，需要手动创建上面所述的目录:
/etc/ros/rosdep/sources.list.d (当然说的是在etc目录下…)，自己制作20-default.list文件。

8.1.2.1 如/etc/ros/rosdep/sources.list.d目录存在

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

在每一个https://raw.githubusercontent.com/前面添加https://ghproxy.com/
修改好的

# os-specific listings first
yaml https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx

# generic
yaml https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
yaml https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
yaml https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
gbpdistro https://ghproxy.com/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

改后后执行rosdep update，前面4个网址访问成功，但最后1个还是访问，错误信息如下：

kandi@ubuntu:/etc/ros/rosdep/sources.list.d$ rosdep update
reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
Hit https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
Hit https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
ERROR: unable to process source [https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml]:
	Failed to download target platform data for gbpdistro:
	<urlopen error [Errno 111] Connection refused>
Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml
ERROR: error loading sources list:
	<urlopen error <urlopen error [Errno 111] Connection refused> (https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml)>

提示无法访问https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml和https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml，此时需要修改index-v4.yaml所在的位置。
需要特别注意：

ros noetic版本基于python3，所以在/usr/lib/python3路径下修改，其他ros版本若基于python2的，需要找到对应的python2 路径进行修改。

修改的方法是在下面这些文件中https://raw.githubusercontent.com前面加上https://ghproxy.com/
(1) 修改

sudo gedit /usr/lib/python3/dist-packages/rosdep2/gbpdistro_support.py

在这里插入图片描述

(2) 修改在__init__.py文件中修改index-v4.yaml的位置

sudo gedit /usr/lib/python3/dist-packages/rosdistro/__init__.py

在这里插入图片描述
继续rosdep update，但还有出错的信息：

把下面几个文件对应的地方也改了

/usr/lib/python3/dist-packages/rosdep2/sources_list.py
 /usr/lib/python3/dist-packages/rosdep2/rep3.py
/usr/lib/python3/dist-packages/rosdistro/manifest_provider/github.py此文件两个地方需要修改

继续rosdep update，还是有问题，比如：

ERROR: unable to process source [https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml]

在多执行几次rosdep update就ok了，信息如下：

kandi@ubuntu:~$ rosdep update
reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
Hit https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
Hit https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
Hit https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
Query rosdistro index https://ghproxy.com/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"
Add distro "foxy"
Add distro "galactic"
Skip end-of-life distro "groovy"
Skip end-of-life distro "hydro"
Skip end-of-life distro "indigo"
Skip end-of-life distro "jade"
Skip end-of-life distro "kinetic"
Skip end-of-life distro "lunar"
Add distro "melodic"
Add distro "noetic"
Add distro "rolling"
updated cache in /home/kandi/.ros/rosdep/sources.cache

8.1.2.2 /etc/ros/rosdep/sources.list.d目录不存在

手动创建上面所述的目录: /etc/ros/rosdep/sources.list.d ，自己创建20-default.list文件。
在终端输入

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

在gedit 20-default.list上粘贴下面的内容：

#os-specific listings first
yaml https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx
#generic
yaml https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
yaml https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
yaml https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
gbpdistro https://ghproxy.com/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

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