ubuntu18.04安装ros-melodic(详细有图,绝对能安装成功)
一、设置软件源:sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'二、设置密钥:sudo apt-key adv
注意:如果当前系统是ubuntu18.04以上的版本,不建议安装ros-melodic,以下步骤也不适用于安装,查询当前系统版本可以使用如下指令
rostest@ubuntu:~$ lsb_release -a
一、设置软件源:
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
二、设置密钥:
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
三、安装Ros-melodic:
sudo apt-get update
sudo apt-get install ros-melodic-desktop-full
sudo apt-get install ros-melodic-rqt*
sudo apt install rospack-tools
执行apt-get install ros-melodic-desktop-full时报错
错误1:
错误:2 http://cn.archive.ubuntu.com/ubuntu bionic/universe amd64 libfltk1.3 amd64 1.3.4-6
连接失败 [IP: 91.189.91.38 80]
E: 无法下载 http://cn.archive.ubuntu.com/ubuntu/pool/main/i/ilmbase/libilmbase-dev_2.2.0-11ubuntu2_amd64.deb 连接失败 [IP: 91.189.91.38 80]
解决方法: 将源换成阿里的
换好之后再执行
sudo apt-get install ros-melodic-desktop-full
显示已经都获取到了阿里源
错误2:
解决方法:
未开启更新,可以在Ubuntu 软件仓库(repositories) 的update中开启。
四、初始化rosdep:
sudo rosdep init
运行之后会出现如下错误:
在运行sudo rosdep init后出现下所示错误:
ERROR: cannot download default sources list from:
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
Website may be down.
解决方法:
1.新建文件夹,并进入文件夹
sudo mkdir -p /home/one/git/
cd /home/one/git/
2.下载项目:
sudo git clone https://gitee.com/one_DS/rosdistro.git
如果git命令执行不了,需要下载git的软件包
apt install git
2.另打开一个终端,备份原文件
sudo cp /usr/lib/python2.7/dist-packages/rosdep2/main.py /usr/lib/python2.7/dist-packages/rosdep2/main.py.bak
sudo cp /usr/lib/python2.7/dist-packages/rosdep2/rep3.py /usr/lib/python2.7/dist-packages/rosdep2/rep3.py.bak
sudo cp /usr/lib/python2.7/dist-packages/rosdistro/__init__.py /usr/lib/python2.7/dist-packages/rosdistro/__init__.py.bak
sudo cp /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py.bak
3.替换原文件网址到本地下载
##第39行将 https://raw.githubusercontent.com/ros/rosdistro/master替换为 file:///home/one/git/rosdistro
sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/rep3.py
##第68行 https://raw.githubusercontent.com/ros/rosdistro/master替换为 file:///home/one/git/rosdistro
sudo gedit /usr/lib/python2.7/dist-packages/rosdistro/__init__.py
##第72行 https://raw.githubusercontent.com/ros/rosdistro/master替换为 file:///home/one/git/rosdistro
sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py
4.运行
sudo rosdep init
显示以下即可进行下一步了
电脑关机之后第二天再运行命令发现报错了
ERROR: default sources list file already exists: /etc/ros/rosdep/sources.list.d/20-default.list Please delete if you wish to re-initialize
解决办法:
执行以下命令,删除已经存在的初始化文件
sudo rm /etc/ros/rosdep/sources.list.d/20-default.list
删除之后再运行发现还是报错
ERROR: cannot create /etc/ros/rosdep/sources.list.d/20-default.list: [Errno 13] Permission denied: '/etc/ros/rosdep/sources.list.d/20-default.list'
解决办法:
接下来修改
/etc/resolv.conf
文件1.终端输入以下命令并回车
sudo gedit /etc/resolv.conf
2.将原有的nameserver那一行注释,并添加以下两行后保存:
nameserver 8.8.8.8 #google域名服务器
nameserver 8.8.4.4 #google域名服务器修改保存后在执行rosdep init成功
5.备份
sudo cp /etc/ros/rosdep/sources.list.d/20-default.list /etc/ros/rosdep/sources.list.d/20-default.list.bak
##将https://raw.githubusercontent.com/ros/rosdistro/master 全部替换为 file:///home/one/git/rosdistro
sudo gedit /etc/ros/rosdep/sources.list.d/20-default.list
6.运行
rosdep update
执行之后显示如下就表示更新成功了
五、安装rosinstall
sudo apt-get install python-rosinstall
六、安装catkin编译器
sudo apt-get install ros-melodic-catkin python-catkin-tools
七、添加环境变量
echo “source /opt/ros/melodic/setup.bash” >> ~/.bashrc
source ~/.bashrc
gedit ~/.bashrc
八、测试
1.运行ROS节点管理器(ROS Master),在当前窗口执行以下命令
roscore
以下是使用roscore指令启动成功后的输出日志信息,结束快捷键ctrl+c,注意:如果要启动小乌龟,此程序不能结束
2.运行turtlesim仿真节点,新打开一个命令窗口,1步骤窗口不要关闭,执行以下命令,当前窗口不要关闭
rosrun turtlesim turtlesim_node
以下是小乌龟仿真器的启动界面
3.运行键盘控制的节点,再新打开一个窗口执行以下命令,前二个窗口都不要关闭
rosrun turtlesim turtle_teleop_key
以下是启动控制节点的键盘控制信息示,将光标放在当前界面 ,一定要将鼠标放在当前界面哦,否则小乌龟是不会运动的,按键 ←、↑、→ 控制小乌龟运动
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