【Ubuntu20.04安装ROS1】

1.更换软件源

	更换软件源，以阿里源为例，编辑sources.list文件，使用如下内容替换该文件的原内容

（1）打开文件

sudo gedit /etc/apt/sources.list

（2）打开文件

deb http://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiverse

2.更新软件列表

sudo apt-get update
sudo apt-get upgrade

3.添加ros软件源

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

4.添加软件密钥

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

5.更新软件源

sudo apt update

6.安装ROS桌面版

sudo apt-get install ros-noetic-desktop-full
sudo apt update --fix-missing

7.初始化rosdep（科学上网）

使用如下指令完成初始化

sudo rosdepc init
rosdepc update

cd /etc/ros/rosdep/sources.list.d
sudo gedit 20-default.list

20-default.list使用如下信息：

# 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

8.设置环境变量

echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

9.测试可行性

roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key