ROS的下载与初始化

一、ROS的下载

http://wiki.ros.org/cn/ROS点击安装
选ROS melodic Ubuntu
1.2步一般只运行一个

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

1.3步运行第一个

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

1.4步安装 应该多次运行本句

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

1.5只运行第一句

sudo rosdep init

如果找不到命令

sudo apt install python-rosdep2 -y
sudo apt install python-rosdep

在解决办法中提供了一个ip，如果速度不够快，或者ip不能用了，你可以自己按照上面的方法更换ip，ip查询地址：
https://site.ip138.com/raw.githubusercontent.com/
进入网站输入：raw.githubusercontent.com
你就会看到IP地址了，就可以做接下来的工作了。

这是由于raw.githubusercontent.com被墙，程序无法下载相应的文件导致的。解决方法就是使得raw.githubusercontent.com能够被正常访问。这个网站被墙的方式是dns污染，所以我们只要能够找到这个网站的正确ip就可以了。

IP地址可能会变，可以去这个网址查一下：ip查询网站 https://site.ip138.com/raw.Githubusercontent.com/
输入 raw.githubusercontent.com 查询IP地址
查到当前IP为：199.232.28.133
查到之后就可以执行：

sudo gedit /etc/hosts

然后把199.232.28.133 raw.githubusercontent.com添加进去，然后保存，然后退出
重新执行sudo rosdep init
此时你可能换过几个IP地址，你的报错内容可能会变成下面这样：

ERROR: default sources list file already exists:
	/etc/ros/rosdep/sources.list.d/20-default.list
Please delete if you wish to re-initialize

这时候你需要执行：

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

或者

sudo rm -f /地址

另一个方法

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

将上面打开网页中的内容复制粘贴到新建打开的文档中：

# 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

或者

# os-specific listings first
yaml https://raw.github.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx

# generic
yaml https://raw.github.com/ros/rosdistro/master/rosdep/base.yaml
yaml https://raw.github.com/ros/rosdistro/master/rosdep/python.yaml
yaml https://raw.github.com/ros/rosdistro/master/rosdep/ruby.yaml
gbpdistro https://raw.github.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

翻墙并更新依赖

rosdep update

1.6设置环境

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

添加环境自动变量（无需手动source devel/setup.bash）
Ctrl+h显示所有
找到.bashrc文件
末尾

source /home/ycz/catkin_ws/devel/setup.bash

二、ROS初始化

gazebo安装
查看当前gazebo版本

dpkg -l | grep gazebo

卸载

sudo apt-get remove gazebo9 gazebo9-common gazebo9-plugin-base libgazebo9:amd64 libgazebo9-dev:amd64 ros-melodic-gazebo-*

镜像

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'

查看正确与否

cat /etc/apt/sources.list.d/gazebo-stable.list

显示 deb http://packages.osrfoundation.org/gazebo/ubuntu-stable bionic main
设置key

wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -

安装

sudo apt-get update
sudo apt-get install gazebo11
sudo apt-get install libgazebo11-dev

ROS组件

sudo apt install ros-melodic-gazebo11-*

下载

cd ~/.gazebo/
mkdir -p models
cd ~/.gazebo/models/
sudo wget http://file.ncnynl.com/ros/gazebo_models.txt
sudo wget -i gazebo_models.txt
ls model.tar.g* | xargs -n1 tar xzvf

第一句也可能没有最后一个/