安裝ROS環境

a. 換源

# 備份原來的sources.list sudo cp /etc/apt/sources.list /etc/apt/sources.list_backup # 修改sources.list sudo gedit /etc/apt/sources.list

將sources.list替換成以下內容:

# 默認注釋了源碼鏡像以提高 apt update 速度，如有需要可自行取消注釋 deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse# 預發布軟件源，不建議啟用 # deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse

b. 添加ros-latest.list并更新

參考ROS wiki官方教程安裝時，有可能會出現如圖所示的錯誤，這時可以嘗試以下解決辦法:

sudo sh -c 'echo "deb https://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ bionic main " > /etc/apt/sources.list.d/ros-latest.list' sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 sudo apt update

參考鏈接:

Ubuntu 鏡像使用幫助- 清華大學開源軟件鏡像站: https://mirrors.tuna.tsinghua.edu.cn/help/ubuntu/

ROS Wiki:Ubuntu install of ROS Melodic: http://wiki.ros.org/melodic/Installation/Ubuntu

ROS 鏡像使用幫助-清華大學開源軟件鏡像站: https://mirrors.tuna.tsinghua.edu.cn/help/ros/

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c. 激活ros環境

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

d. 安裝ROS編譯相關的包

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

按照官網教程，運行以下命令:

sudo rosdep init sudo rosdep fix-permissions rosdep update

這時候報錯：cannot download default sources list

解決辦法:

進入網站https://ip.tool.chinaz.com/raw.githubusercontent.com，我們可以看到raw.githubusercontent.com 的IPV4地址，將其添加到/etc/hosts中，如

185.199.109.133 raw.githubusercontent.com

并嘗試運行sudo rosdep init

如果運行rosdep init命令且終端顯示超時報錯時，可以嘗試以下辦法:

sudo gedit /etc/resolv.conf

在文件末尾添加以下內容:

nameserver 8.8.8.8 #google域名服務器 nameserver 8.8.4.4 #google域名服務器

PS: 為了加速GitHub訪問，推薦將以下內容添加到 /etc/hosts 文件中:

# GitHub Host Start185.199.108.154 github.githubassets.com 140.82.113.22 central.github.com 185.199.108.133 desktop.githubusercontent.com 185.199.108.153 assets-cdn.github.com 185.199.108.133 camo.githubusercontent.com 185.199.108.133 github.map.fastly.net 199.232.69.194 github.global.ssl.fastly.net 140.82.114.3 gist.github.com 140.82.114.5 api.github.com 185.199.108.133 raw.githubusercontent.com 185.199.108.133 user-images.githubusercontent.com 185.199.108.133 favicons.githubusercontent.com 185.199.108.133 avatars5.githubusercontent.com 185.199.108.133 avatars4.githubusercontent.com 185.199.108.133 avatars3.githubusercontent.com 185.199.108.133 avatars2.githubusercontent.com 185.199.108.133 avatars1.githubusercontent.com 185.199.108.133 avatars0.githubusercontent.com 185.199.108.133 avatars.githubusercontent.com 140.82.113.9 codeload.github.com 52.216.160.43 github-cloud.s3.amazonaws.com 52.216.179.211 github-com.s3.amazonaws.com 52.217.69.236 github-production-release-asset-2e65be.s3.amazonaws.com 52.216.185.107 github-production-user-asset-6210df.s3.amazonaws.com 52.217.13.92 github-production-repository-file-5c1aeb.s3.amazonaws.com 185.199.108.133 media.githubusercontent.com# Please Star : https://github.com/ineo6/hosts # Mirror Repo : https://gitee.com/ineo6/hosts # Update at: 2021-03-29 18:16:31# GitHub Host End

總結

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