请连接信号较好速度较快的wifi,或者使用手机wifi,否则将导致安装失败。
部分教程参考(https://blog.csdn.net/qq_41450811/article/details/99079041)
安装过程中遇到问题请转到文末。
sudo gedit /etc/apt/sources.list
将文档里面的内容替换成
deb http://mirrors.ustc.edu.cn/ubuntu-ports/ bionic main multiverse restricted universe
deb http://mirrors.ustc.edu.cn/ubuntu-ports/ bionic-backports main multiverse restricted universe
deb http://mirrors.ustc.edu.cn/ubuntu-ports/ bionic-proposed main multiverse restricted universe
deb http://mirrors.ustc.edu.cn/ubuntu-ports/ bionic-security main multiverse restricted universe
deb http://mirrors.ustc.edu.cn/ubuntu-ports/ bionic-updates main multiverse restricted universe
deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ bionic main multiverse restricted universe
deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ bionic-backports main multiverse restricted universe
deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ bionic-proposed main multiverse restricted universe
deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ bionic-security main multiverse restricted universe
deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ bionic-updates main multiverse restricted universe
## Note, this file is written by cloud-init on first boot of an instance
## modifications made here will not survive a re-bundle.
## if you wish to make changes you can:
## a.) add 'apt_preserve_sources_list: true' to /etc/cloud/cloud.cfg
## or do the same in user-data
## b.) add sources in /etc/apt/sources.list.d
## c.) make changes to template file /etc/cloud/templates/sources.list.tmpl
# See http://help.ubuntu.com/community/UpgradeNotes for how to upgrade to
# newer versions of the distribution.
deb http://ports.ubuntu.com/ubuntu-ports bionic main restricted
# deb-src http://ports.ubuntu.com/ubuntu-ports bionic main restricted
## Major bug fix updates produced after the final release of the
## distribution.
deb http://ports.ubuntu.com/ubuntu-ports bionic-updates main restricted
# deb-src http://ports.ubuntu.com/ubuntu-ports bionic-updates main restricted
## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu
## team. Also, please note that software in universe WILL NOT receive any
## review or updates from the Ubuntu security team.
deb http://ports.ubuntu.com/ubuntu-ports bionic universe
# deb-src http://ports.ubuntu.com/ubuntu-ports bionic universe
deb http://ports.ubuntu.com/ubuntu-ports bionic-updates universe
# deb-src http://ports.ubuntu.com/ubuntu-ports bionic-updates universe
## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu
## team, and may not be under a free licence. Please satisfy yourself as to
## your rights to use the software. Also, please note that software in
## multiverse WILL NOT receive any review or updates from the Ubuntu
## security team.
deb http://ports.ubuntu.com/ubuntu-ports bionic multiverse
# deb-src http://ports.ubuntu.com/ubuntu-ports bionic multiverse
deb http://ports.ubuntu.com/ubuntu-ports bionic-updates multiverse
# deb-src http://ports.ubuntu.com/ubuntu-ports bionic-updates multiverse
## N.B. software from this repository may not have been tested as
## extensively as that contained in the main release, although it includes
## newer versions of some applications which may provide useful features.
## Also, please note that software in backports WILL NOT receive any review
## or updates from the Ubuntu security team.
deb http://ports.ubuntu.com/ubuntu-ports bionic-backports main restricted universe multiverse
# deb-src http://ports.ubuntu.com/ubuntu-ports bionic-backports main restricted universe multiverse
## Uncomment the following two lines to add software from Canonical's
## 'partner' repository.
## This software is not part of Ubuntu, but is offered by Canonical and the
## respective vendors as a service to Ubuntu users.
# deb http://archive.canonical.com/ubuntu bionic partner
# deb-src http://archive.canonical.com/ubuntu bionic partner
deb http://ports.ubuntu.com/ubuntu-ports bionic-security main restricted
# deb-src http://ports.ubuntu.com/ubuntu-ports bionic-security main restricted
deb http://ports.ubuntu.com/ubuntu-ports bionic-security universe
# deb-src http://ports.ubuntu.com/ubuntu-ports bionic-security universe
deb http://ports.ubuntu.com/ubuntu-ports bionic-security multiverse
# deb-src http://ports.ubuntu.com/ubuntu-ports bionic-security multiverse
deb http://ports.ubuntu.com/ubuntu-ports bionic-proposed restricted main multiverse universe
换成国内的源,下载速度会快一些,ctrl+s保存,打开Software&Update,软件源替换成如图所示。
打开终端输入以下命令:
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
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'
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654
sudo apt-get update
sudo apt-get install ros-melodic-desktop-full
sudo apt-get install ros-melodic-rqt*
sudo rosdep init
rosdep update
sudo apt-get install python-rosinstall
source /opt/ros/melodic/setup.bash
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
目前,只有src目录和CMakeLists.txt文件在catkin工作目录中,使用catkin_make命令来构建
cd ~/catkin_ws/
catkin_make
sudo apt install net-tools
gedit ~/.bashrc
在最后一行添加以下内容,其中ROS_HOSTNAME需要换成本机ip地址,一般可以设置为localhost
# Set ROS melodic
source /opt/ros/melodic/setup.bash
source ~/catkin_ws/devel/setup.bash
# Set ROS Network
#ifconfig查看你的电脑ip地址或者使用localhost代替
export ROS_HOSTNAME=localhost
export ROS_MASTER_URI=http://${ROS_HOSTNAME}:11311
rosversion –d
roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key
1:如果出现错误: Could not get lock /var/lib/dpkg/lock - open解决方法
主要原因:主要是因为apt还在运行
解决方案:杀死所有的apt进程。
(1)查找所有apt相关的进程,并用命令杀死。例如
(2) 锁定的文件会阻止 Linux 系统中某些文件或者数据的访问,这个概念也存在于 Windows 或者其他的操作系统中。
一旦你运行了 apt-get 或者 apt 命令,锁定文件将会创建于 /var/lib/apt/lists/、/var/lib/dpkg/、/var/cache/apt/archives/ 中。
这有助于运行中的 apt-get 或者 apt 进程能够避免被其它需要使用相同文件的用户或者系统进程所打断。当该进程执行完毕后,锁定文件将会删除。
所以:
①移除对应目录下的锁文件:
②强制重新配置软件包:
③更新软件包源文件:
$ sudo rm /var/lib/dpkg/lock
之后像下面这样强制重新配置软件包:
$ sudo dpkg --configure –a
接下来,更新你的软件包源列表:
$ sudo apt update
2:sudo rosdep init时出现问题:
ERROR: cannot download default sources list from:https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list Website may be down.
主要原因:网络问题
解决办法:(1)换个网络尝试下(可以尝试手机热点);
(2)如果不行的话
sudo gedit /etc/hosts
添加:151.101.84.133 raw.githubusercontent.com
3:sudo: rosdep:command not found
解决办法:
sudo apt install python-rosdep
4:ros安装过程失败想要卸载重新安装可执行:
sudo apt-get purge ros-*
sudo rm -rf /etc/ros
gedit ~/.bashrc
5:其它问题:重启有可能解决问题。