Ubuntu18.04 安装ros-melodic

一. 切换国内源

安装完Ubuntu18.04之后，为安装软件快捷方便，推荐将软件源更新为国内稳定机构，这里使用的是阿里云。

二. 安装Melodic

1. 安装说明

如果安装过程中出现网络相关的问题，建议更换有线网络或者热点，然后重新执行出错指令。

2. 配置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'

3. 配置密钥

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

4. 更新系统软件源

sudo apt update

5. 安装Melodic

sudo apt install ros-melodic-desktop-full

6. 初始化rosdep

sudo rosdep init
rosdep update

如果出现sudo rosdep init ERROR: cannot download default sources list from:【closed】

     #打开hosts文件
     sudo gedit /etc/hosts
     #在文件末尾添加
     151.101.84.133  raw.githubusercontent.com
     #保存后退出再尝试

然后保存退出再次sudo rosdep init如果还是不行登陆IPAdress网站The Best IP Address, Email and Networking Tools - IPAddress.com，输入raw.githubusercontent.com查询到真实IP地址:

将查询到的IP替换上面代码的 151.101.84.133然后再次sudo rosdep init一般就会成功了

直接在sources.list.d中直接添加https://ghproxy.com/前缀

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

# os-specific listings first
yaml https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx
 
# generic
yaml https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
yaml https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
yaml https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
gbpdistro https://ghproxy.com/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

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版权声明：本文为CSDN博主「Iamsonice」的原创文章，遵循CC 4.0 BY-SA版权协议，转载请附上原文出处链接及本声明。
原文链接：https://blog.csdn.net/Iamsonice/article/details/116018915

如果出现超时错误ERROR: error loading sources list: ('The read operation timed out',)，切换4G网络，如果还超时修改超时时间：更改 /usr/lib/python2.7/dist-packages/rosdep2/下的三个文件sources_list.py、gbpdistro_support.py、rep3.py中的DOWNLOAD_TIMEOUT = 15.0值，改大一点就可以了。

7. 用户环境设置

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

8. 安装包编译依赖

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

9. 验证安装

rosversion -d