Ubuntu18.04安装ROS
1.设置安装源
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'
2设置密钥
sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
在更新之前，需要安装公钥，否则无法验证签名，命令如下:
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654
3.更新软件列表
sudo apt update
//安装ROS时遇到E: 文件 list 第 1 行的记录格式有误 /etc/apt/sources.list.d/ros-latest.list (Component)解决办法
此时执行：
sudo rm /etc/apt/sources.list.d/ros-latest.list
即可解决。
4.安装ROS
sudo apt-get install ros-melodic-desktop-full
5.安装完成之后初始化rosdep
sudo apt install python-rosdep
6.初始化rosdep
sudo rosdep init
rosdep update
大多数情况下，做到这一步都会报错，可能会出现如下情况:
…-Website may be down或者…ERROR: unable to process source
错误原因是由于raw.githubusercontent.com被墙，程序无法下载相应的文件导致的，正常情况下我们也无法访问该网站。
问题解决:
A.下载rosdistro-master的压缩包，然后解压到主目录
cd ~
unzip rosdistro-master.zip
mv rosdistro-master rosdistro
链接: https://pan.baidu.com/s/1z25LvAV1Z7dCTuzELqhOsA
提取码:75r1
B.修改20-default.list文件
sudo gedit /etc/ros/rosdep/sources.list.d/20-default.list
内容修改如下:
# os-specific listings first
yaml file:///home/xxx可以参考这个视频哦/rosdistro/rosdep/osx-homebrew.yaml osx
# generic
yaml file:///home/xxx/rosdistro/rosdep/base.yaml
yaml file:///home/xxx/rosdistro/rosdep/python.yaml
yaml file:///home/xxx/rosdistro/rosdep/ruby.yaml
gbpdistro file:///home/xxx/rosdistro/releases/fuerte.yaml fuerte
# newer distributions (Groovy, Hydro, ..) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead
注意:上述xxx需替换为自己的用户名
C.修改sources_list.py文件
sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py
注释原DEFAULT_SOURCES_LIST_URL一行，然后在其后添加如下一行，注意: xxx替换
DEFAULT_SOURCES_LIST_URL = 'file:///home/xxx/rosdistro/rosdep/sources.list.d/20-default.list'
D.修改rep3.py 文件
sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/rep3.py
注释原REP3_TARGETS_URL一行，然后在其后添加如下一行，注意:xxx替换
REP3_TARGETS_URL = 'file:///home/xxx/rosdistro/releases/targets.yaml'