ROS学习——Ubuntu18.04下安装ROS Melodic
前言：
本篇文章记录了一个ROS小白安装ROS的过程。本博文参考连接在文章最后。
首先要知道的是不同的Ubuntu版本会对应着不同的ROS发行版，而18.04对应的是Melodic。
一、软件配置要求：
配置Ubuntu 软件和更新界面，允许"main", “restricted” ，“universe，” and “multiverse”，如图：
在下载自处，修改服务器配置。我选择的是中科大的源（USTC）
二、安装Melodic
１.配置ROS软件源
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.配置密钥
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
3.更新软件源
sudo apt update
4.安装Melodic
sudo apt install ros-melodic-desktop-full
5.初始化ｒｏｓｄｅｐ
sudo rosdep init
rosdep update
若出现问题
git clone https://github.com/ros/rosdistro.git
然后修改文件： （１）. /usr/lib/python3/dist-packages/rosdep2/rep3.py
# REP3_TARGETS_URL = 'https://raw.githubusercontent.com/ros/rosdistro/master/releases/targets.yaml'
REP3_TARGETS_URL = 'https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/releases/targets.yaml'
（2）. /usr/lib/python3/dist-packages/rosdistro/__init__.py
# DEFAULT_INDEX_URL = 'https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml'
DEFAULT_INDEX_URL = 'https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml'
（3）. /etc/ros/rosdep/sources.list.d/20-default.list
# os-specific listings first
yaml https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx
# generic
yaml https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
yaml https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
yaml https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
gbpdistro https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml fuerte
# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead
再执行 ｒｏｓｄｅｐ ｕｐｄａｔｅ，成功：
6. 用户环境设置
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
7. 安装包编译依赖
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential
8. 验证安装
rosversion -d
9. 参考链接：
ROS Melodic安装教程_MAVER1CK的博客-CSDN博客_ros melodic安装
ROS学习——rosdep update 超时解决方法_senlijiu的博客-CSDN博客_rosdep update超时
Ubuntu18.04安装ROS Melodic（详细，亲测安装完成，有清晰的截图步骤）_爱跑步的mango的博客-CSDN博客_ubuntu1804安装ros