# Ubuntu18下的ROS安装教程

**Repository Path**: kzj18/ros-installation

## Basic Information

- **Project Name**: Ubuntu18下的ROS安装教程
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: MIT
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 0
- **Created**: 2021-04-20
- **Last Updated**: 2021-12-02

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Ubuntu18下的ROS安装方法

## 一、下载本教程

下载本教程，在终端中输入
```
cd $HOME && git clone https://gitee.com/kzj18/ros-installation.git && cd $HOME/ros-installation
```

---

## 二、在Ubuntu18安装ROS

添加ROS软件源，在终端输入
```
sudo sh -c 'echo "deb https://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ bionic main" > /etc/apt/sources.list.d/ros-latest.list'
```

添加密钥，在终端输入
```
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt update
```

正式安装，在终端输入
```
sudo apt install ros-melodic-desktop-full
```

添加环境变量，在终端输入
```
echo "source /opt/ros/melodic/setup.bash" >> $HOME/.bashrc && source $HOME/.bashrc
```

安装常用命令行工具和依赖
```
sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
```

为了避免初始化命令`rosdep update`不成功，使用代理，先备份再将这五个文件替换掉原来的文件（`/usr/lib/python2.7/dist-packages/rosdep2/sources_list.py`、`/usr/lib/python2.7/dist-packages/rosdistro/__init__.py`、`/usr/lib/python2.7/dist-packages/rosdistro/manifest_provider/github.py`、`/usr/lib/python2.7/dist-packages/rosdep2/gbpdistro_support.py`和`/usr/lib/python2.7/dist-packages/rosdep2/rep3.py`），在终端输入
```
sudo cp /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py $HOME/ros-installation/Ubuntu18/sources_list-original.py && sudo cp /usr/lib/python2.7/dist-packages/rosdistro/__init__.py $HOME/ros-installation/Ubuntu18/__init__-original.py && sudo cp /usr/lib/python2.7/dist-packages/rosdistro/manifest_provider/github.py $HOME/ros-installation/Ubuntu18/github-original.py && sudo cp /usr/lib/python2.7/dist-packages/rosdep2/gbpdistro_support.py $HOME/ros-installation/Ubuntu18/gbpdistro_support-original.py && sudo cp /usr/lib/python2.7/dist-packages/rosdep2/rep3.py $HOME/ros-installation/Ubuntu18/rep3-original.py
sudo cp $HOME/ros-installation/Ubuntu18/sources_list.py /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py && sudo cp $HOME/ros-installation/Ubuntu18/__init__.py /usr/lib/python2.7/dist-packages/rosdistro/__init__.py && sudo cp $HOME/ros-installation/Ubuntu18/github.py /usr/lib/python2.7/dist-packages/rosdistro/manifest_provider/github.py && sudo cp $HOME/ros-installation/Ubuntu18/gbpdistro_support.py /usr/lib/python2.7/dist-packages/rosdep2/gbpdistro_support.py && sudo cp $HOME/ros-installation/Ubuntu18/rep3.py /usr/lib/python2.7/dist-packages/rosdep2/rep3.py
```

初始化rosdep，在终端输入
```
sudo rosdep init && rosdep update
```

检验是否安装成功，在终端输入
```
roscore
```

---

## 三、在Ubuntu20安装ROS

添加ROS软件源，在终端输入
```
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'

```

添加密钥，在终端输入
```
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt update
```

正式安装，在终端输入
```
sudo apt install ros-noetic-desktop-full
```

添加环境变量，在终端输入
```
echo "source /opt/ros/noetic/setup.bash" >> $HOME/.bashrc && source $HOME/.bashrc
```

安装常用命令行工具和依赖
```
sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool python3-roslaunch build-essential
```

为了避免初始化命令`sudo rosdep init`不成功，使用代理，先备份再将这五个文件替换掉原来的文件（`/usr/lib/python3/dist-packages/rosdep2/sources_list.py`、`/usr/lib/python3/dist-packages/rosdep2/gbpdistro_support.py`和`/usr/lib/python3/dist-packages/rosdep2/rep3.py`），在终端输入
```
sudo cp /usr/lib/python3/dist-packages/rosdep2/sources_list.py $HOME/ros-installation/Ubuntu20/sources_list-original.py && sudo cp /usr/lib/python3/dist-packages/rosdep2/gbpdistro_support.py $HOME/ros-installation/Ubuntu20/gbpdistro_support-original.py && sudo cp /usr/lib/python3/dist-packages/rosdep2/rep3.py $HOME/ros-installation/Ubuntu20/rep3-original.py
sudo cp $HOME/ros-installation/Ubuntu20/sources_list.py /usr/lib/python3/dist-packages/rosdep2/sources_list.py && sudo cp $HOME/ros-installation/Ubuntu20/gbpdistro_support.py /usr/lib/python3/dist-packages/rosdep2/gbpdistro_support.py && sudo cp $HOME/ros-installation/Ubuntu20/rep3.py /usr/lib/python3/dist-packages/rosdep2/rep3.py
```

初始化rosdep，在终端输入
```
sudo rosdep init
```

为了避免初始化命令`rosdep update`不成功，使用代理，先备份再将这五个文件替换掉原来的文件（`/usr/lib/python3/dist-packages/rosdistro/__init__.py`、`/usr/lib/python3/dist-packages/rosdistro/develdistro.py`、`/usr/lib/python3/dist-packages/rosdistro/rosdistro.py`与`/usr/lib/python3/dist-packages/rosdistro/manifest_provider/github.py`），在终端输入
```
sudo cp /usr/lib/python3/dist-packages/rosdistro/__init__.py $HOME/ros-installation/Ubuntu20/__init__-original.py && sudo cp /usr/lib/python3/dist-packages/rosdistro/develdistro.py $HOME/ros-installation/Ubuntu20/develdistro-original.py && sudo cp /usr/lib/python3/dist-packages/rosdistro/rosdistro.py $HOME/ros-installation/Ubuntu20/rosdistro-original.py && sudo cp /usr/lib/python3/dist-packages/rosdistro/manifest_provider/github.py $HOME/ros-installation/Ubuntu20/github-original.py
sudo cp $HOME/ros-installation/Ubuntu20/__init__.py /usr/lib/python3/dist-packages/rosdistro/__init__.py && sudo cp $HOME/ros-installation/Ubuntu20/develdistro.py /usr/lib/python3/dist-packages/rosdistro/develdistro.py && sudo cp $HOME/ros-installation/Ubuntu20/rosdistro.py /usr/lib/python3/dist-packages/rosdistro/rosdistro.py && sudo cp $HOME/ros-installation/Ubuntu20/github.py /usr/lib/python3/dist-packages/rosdistro/manifest_provider/github.py
```

初始化rosdep，在终端输入
```
rosdep update
```

检验是否安装成功，在终端输入
```
roscore
```

Ubuntu20安裝教程來自[详细介绍如何在ubuntu20.04中安装ROS系统，超快完成安装（最新版教程）](https://blog.csdn.net/qq_44339029/article/details/120579608)
整理自[解决ROS系统 rosdep update超时问题的新方法](https://blog.csdn.net/leida_wt/article/details/115120940)。