解决ROS2 humble版本源码编译中resdep init及rosdep update失败的问题

网上有在/etc/hosts中添加ip地址的方法，使用了不成功，具体做法如下，仅供参考：

a.打开查询ip的网址：

https://site.ip138.com
b.输入：
raw.githubusercontent.com

c.执行sudo vi /etc/hosts

将获取到的ip添加到该文件下即可

采用了一下方法顺利解决了

1. sudo rosdep init失败问题

1.1 在本地创建rosdep init会生成的文件

sudo mkdir -p /etc/ros/rosdep/sources.list.d
cd /etc/ros/rosdep/sources.list.d
sudo vim 20-default.list

1.2 将一下内容复制到20-default.list中 

# os-specific listings first
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx

# generic
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
gbpdistro 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

2. rosdep update问题

超时的原因主要是从国外的服务器下载东西，因此可以采用github添加代理的方式来解决。

2.1 修改sources_list.py

sudo vim /usr/lib/python3/dist-packages/rosdep2/sources_list.py

找到303行添加

url="https://ghproxy.com/"+url

 最后如图：

2.2 修改 __ init__.py

sudo vim /usr/lib/python3/dist-packages/rosdistro/__init__.py

找到68行， 在原网址上添加“https://ghproxy.com/”

DEFAULT_INDEX_URL = 'https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml'

 最后结果如图：

2.3 修改 gbpdistro_support.py

sudo vim /usr/lib/python3/dist-packages/rosdep2/gbpdistro_support.py

找到34行，修改FUERTE_GBPDISTRO_URL 的地址， 在原网址上添加“https://ghproxy.com/”

 FUERTE_GBPDISTRO_URL = 'https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/' \
      'master/releases/fuerte.yaml'

 结果如下图：

2.4 修改sources_list.py 

sudo vim /usr/lib/python3/dist-packages/rosdep2/sources_list.py

找到64行，修改DEFAULT_SOURCES_LIST_URL， 在原网址上添加“https://ghproxy.com/”

DEFAULT_SOURCES_LIST_URL = 'https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list'

最后结果如下图： 

2.5  修改rep3.py

sudo vim /usr/lib/python3/dist-packages/rosdep2/rep3.py

找到36行，修改REP3_TARGETS_URL，在原网址上添加“https://ghproxy.com/”

REP3_TARGETS_URL = 'https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/releases/targets.yaml'

最后结果如下图：

2.6 修改github.py

sudo vim /usr/lib/python3/dist-packages/rosdistro/manifest_provider/github.py

找到68行，在原网址上添加“https://ghproxy.com/”

url = 'https://ghproxy.com/https://raw.githubusercontent.com/%s/%s/package.xml' % (path, release_tag)

最后结果如下图：

找到119行， 在原网址上添加“https://ghproxy.com/”

     for package_xml_path in package_xml_paths:
         url = 'https://ghproxy.com/https://raw.githubusercontent.com/%s/%s/%s' % \
             (path, cache.ref(), package_xml_path + '/package.xml' if package_xml_path else 'package.xml')

最后结果如下图：

2.7 修改 

sudo vim  /usr/lib/python3/dist-packages/rosdep2/gbpdistro_support.py

找到202行， 在原网址上添加“https://ghproxy.com/”

 gbpdistro_url = "https://ghproxy.com/" + gbpdistro_url

最后结果如下图：

3. 验证 

执行

rosdep update

即可