21/12/1 再次安装ROS记录

自己做的一点杂事

设置ROOT用户

1、 sudo passwd
2、输入当前用户密码 设置新的root密码 确认新的用户密码
3、su root 输入密码就可以进root了

安装ROS准备

软件与更新中设置源代码来源改为国内源

设置软件源

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'

设置最新的密钥

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654

安装

sudo apt-get update
sudo apt-get install ros-melodic-desktop-full

初始化rosdep

sudo rosdep init
rosdep update

出错了：

因为缺少下面这个包，执行以下命令

sudo apt-get install python-rosdep

再执行初始化命令
又出错了：

解决方法：
（1）在ubuntu里面打开浏览器去https://github.com/ros/rosdistro，把这个项目下载到/tmp下面，下载来的压缩包应该叫rosdistro-master.zip，然后解压到此处

（2）打开/etc/ros/rosdep/source.list.d/20-default.list然后将内容换成下面这些：

# os-specific listings first
yaml file:///tmp/rosdistro-master/rosdep/osx-homebrew.yaml osx

# generic
yaml file:///tmp/rosdistro-master/rosdep/base.yaml
yaml file:///tmp/rosdistro-master/rosdep/python.yaml
yaml file:///tmp/rosdistro-master/rosdep/ruby.yaml
gbpdistro file:///tmp/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

（3）输入命令 sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py，然后将其中的文件进行注释替换

sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py
DEFAULT_SOURCES_LIST_URL = 'file:///tmp/rosdistro-master/rosdep/sources.list.d/20-default.list'

（4）在输入命令 sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/rep3.py，然后将其中的文件进行注释替换。

sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/rep3.py
REP3_TARGETS_URL = 'file:///tmp/rosdistro-master/releases/targets.yaml'

（5）输入命令：sudo gedit /usr/lib/python2.7/dist-packages/rosdistro/init.py，然后将其中的文件进行注释替换。

sudo gedit /usr/lib/python2.7/dist-packages/rosdistro/__init__.py
DEFAULT_INDEX_URL = 'file:///tmp/rosdistro-master/index-v4.yaml'

（6）再次重试

sudo rosdep init
rosdep update

安装rosinstall

sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential

配置环境

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

测试

终端1：

roscore

ctrl+alt+t调出终端2：

rosrun turtlesim turtlesim_node

ctrl+alt+t终端3：

rosrun turtlesim turtle_teleop_key