树莓派3B+ubuntu mate 18.04和ROS安装以及相关问题解决
树莓派3B+ubuntu mate 18.04和ROS安装以及相关问题解决（亲测有效）
安装Ubuntu mate 18.04
官方下载地址https://ubuntu-mate.org/download/
- 一定要选择experimental，因为64位系统在树莓派3B+上运行比32位流畅，我之前用32位也一直安装不上ROS。
- 插入TF卡进行格式化，用电脑自带的格式化也行
- 将系统烧录到TF卡中，点击Write进行烧录。注意：这个软件只能烧录IMG镜像，如果要烧录ISO镜像可以考虑用Etcher-Portable-1.4.6-x64
- 将烧录好的TF卡插入树莓派通电根据提示一步一步安装就好了，傻瓜式操作，如果其他问题可以参考这篇文章
安装ROS
从官网上查看Ubuntu mate 18.04支持的ROS版本是Melodic。
根据之前安装kinetic的经验，先更换了国内源
中科大源
deb https://mirrors.ustc.edu.cn/ubuntu/ bionic main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse
清华源
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
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
阿里源
deb http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-proposed main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-proposed main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse
163源
deb http://mirrors.163.com/ubuntu/ bionic main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ bionic-security main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ bionic-updates main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ bionic-proposed main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ bionic-backports main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ bionic main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ bionic-security main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ bionic-updates main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ bionic-proposed main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ bionic-backports main restricted universe multiverse
更换源时可以直接用管理员身份打开/etc/apt/sources.list进行更改，也可以通过vim进行替换。
vim方式：
sudo vim /etc/apt/sources.list
如果显示sudo：vim command not found就是没有安装vim。
输入sudo apt-get install vim安装即可。
进入vim后:%s/ports.ubuntu.com/mirrors.aliyun.com/g
将文件中ports.ubuntu.com更换成mirrors.aliyun.com，如果想用其他源把对应网址更换即可。
保存退出:wq
安装ROS
更新软件列表sudo apt-get update
更新软件包:sudo apt-get upgrade
我在更新软件列表时提示arm64_packages错误，然后我从对应网址手动下载包，解压至/var/lib/apt/lists/解决，
参考：https://blog.csdn.net/u011118482/article/details/78977817?utm_source=blogxgwz5
添加ROS源库
国外sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
国内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'
添加密钥sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
若显示NO_PUBKEY F42ED6FBAB17C654
则需要更改密钥sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654
桌面完整安装：ROS，rqt，rviz，机器人通用库，2D / 3D模拟器，导航和2D / 3D感知
sudo apt-get install ros-melodic-desktop-full
桌面安装：ROS，rqt，rviz和机器人通用库
sudo apt-get install ros-melodic-desktop
ROS基础：ROS包，构建和通信库，没有GUI工具
sudo apt-get install ros-melodic-ros-base
若碰到ROS包无法下载，可以参照上面的网站进行手动下载
若是依赖问题参考https://blog.csdn.net/zzyczzyc/article/details/93492559
初始化rosdepsudo rosdep init
rosdep update
如果rosdep update失败的话，用手机热点轻松解决
设置环境变量
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc