unbuntu18.04安装ROS（自测成功安装）

写个博文留给自己需要时候安装

参考Ubuntu18.04+Ros Melodic安装及环境配置+Ros安装常见问题解决方法（亲测安装成功） - 古月居 (guyuehome.com)

和
Ubuntu18.04安装ROS Melodic（详细，亲测安装完成，有清晰的截图步骤）_ubuntu 18 ros melodic-优快云博客

安装步骤

Ubuntu18.04+Ros Melodic安装及环境配置

一、安装前的准备工作

1.配置Ubuntu软件库

首先，对Ubuntu软件库进行设置，选中前5个选项。

跟我一样选阿里源吧

2.更改Ubuntu软件源

如果忽略这步，Ros相关软件包安装下载时需要很长时间，更换为国内软件源后会大大加快软件下载以及update的速度。

首先，修改源文件，输入命令：

sudo gedit /etc/apt/sources.list

打开后把配置文件内容修改如下：

# deb cdrom:[Ubuntu 16.04 LTS _Xenial Xerus_ - Release amd64 (20160420.1)]/ xenial main restricted
deb-src http://archive.ubuntu.com/ubuntu xenial main restricted #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial main restricted
deb-src http://mirrors.aliyun.com/ubuntu/ xenial main restricted multiverse universe #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted multiverse universe #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial universe
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates universe
deb http://mirrors.aliyun.com/ubuntu/ xenial multiverse
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates multiverse
deb http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse #Added by software-properties
deb http://archive.canonical.com/ubuntu xenial partner
deb-src http://archive.canonical.com/ubuntu xenial partner
deb http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted multiverse universe #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial-security universe
deb http://mirrors.aliyun.com/ubuntu/ xenial-security multiverse

deb http://mirrors.aliyun.com/ubuntu/ bionic main universe restricted multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic main universe restricted multiverse #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ bionic-updates main universe restricted multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-updates main universe restricted multiverse #Added by software-properties
deb http://security.ubuntu.com/ubuntu/ bionic-security main universe restricted multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-security main universe restricted multiverse #Added by software-properties

修改完成后保存退出即可开始Ros的正式安装。

二、正式安装步骤

1.添加ROS软件源

输入以下命令：

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

注意：上述命令如果下载速度过慢，可以使用以下命令重新添加软件源（经测试均可正常安装）：

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

2.向系统添加秘钥输入以下命令：

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

3.安装Ros软件包首先，更新系统软件：

sudo apt update

然后正式安装，为了避免之后出现缺少软件包的问题，在这里直接下载完整版Ros-Melodic软件包

sudo apt install ros-melodic-desktop-full

此步会耗时较长，需要耐心等待，如果一边结束后显示有某些软件包漏掉未下载或下载失败，再次运行该命令即可，可能是因为下载某些软件包时网络问题。

4.初始化rosdep（此步会遇到一些问题，在下面会详细解决）

运行命令：

sudo apt-get install python-pip
sudo pip install rosdepc
sudo rosdepc init
rosdepc update

 

sudo rosdep init

rosdep update

rosdep update出错的话试试执行
参考rosdepc update常见错误及解决方案 | 鱼香ROS (fishros.org.cn)

rosdepc update

5.设置环境变量：

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

source ~/.bashrc

6.安装ros-install

sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential

三、测试安装是否成功

1.启动RosMaster（管理Ros中各个节点的“大管家”，每次启动Ros时需要首先启动RosMaster）

roscore

2.启动海龟仿真器turtlesim

rosrun turtlesim turtlesim_node

 

3.启动海龟控制器

rosrun turtlesim turtle_teleop_key