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基本思想：最近接了一个项目，构建ROS系统并完成检测功能，在此随手记录一下吧~

一、更新ubuntu源

ubuntu@ubuntu:~$ sudo gedit /etc/apt/sources.list## 追加阿里源deb http://mirrors.aliyun.com/ubuntu/ trusty main restricted universe multiversedeb http://mirrors.aliyun.com/ubuntu/ trusty-security main restricted universe multiversedeb http://mirrors.aliyun.com/ubuntu/ trusty-updates main restricted universe multiversedeb http://mirrors.aliyun.com/ubuntu/ trusty-proposed main restricted universe multiversedeb http://mirrors.aliyun.com/ubuntu/ trusty-backports main restricted universe multiversedeb-src http://mirrors.aliyun.com/ubuntu/ trusty main restricted universe multiversedeb-src http://mirrors.aliyun.com/ubuntu/ trusty-security main restricted universe multiversedeb-src http://mirrors.aliyun.com/ubuntu/ trusty-updates main restricted universe multiversedeb-src http://mirrors.aliyun.com/ubuntu/ trusty-proposed main restricted universe multiversedeb-src http://mirrors.aliyun.com/ubuntu/ trusty-backports main restricted universe multiverse ##ubuntu@ubuntu:~$ sudo apt-get update

二、下载源码，留存使用本地更新模式

ubuntu@ubuntu:~$ git clone https://github.com/ros/rosdistro.git

三、添加许可

ubuntu@ubuntu:~$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'ubuntu@ubuntu:~$ sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'ubuntu@ubuntu:~$ sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'ubuntu@ubuntu:~$ sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654

四、安装桌面

ubuntu@ubuntu:~$ sudo apt-get updateubuntu@ubuntu:~$ sudo apt-get install ros-melodic-desktop-fullubuntu@ubuntu:~$ sudo apt-get install ros-melodic-rqt*ubuntu@ubuntu:~$ sudo apt install rospack-toolsubuntu@ubuntu:~$ sudo apt-get install python-rosinstall

五、需要执行两次sed命令，同步进行rosdep初始化和更新命令  (先备份一下各个文件)

备份

ubuntu@ubuntu:~$ sudo cp /usr/lib/python2.7/dist-packages/rosdep2/main.py /usr/lib/python2.7/dist-packages/rosdep2/main.py.bkubuntu@ubuntu:~$ sudo cp /usr/lib/python2.7/dist-packages/rosdep2/rep3.py /usr/lib/python2.7/dist-packages/rosdep2/rep3.py.bkubuntu@ubuntu:~$ sudo cp /usr/lib/python2.7/dist-packages/rosdistro/__init__.py /usr/lib/python2.7/dist-packages/rosdistro/__init__.py.bkubuntu@ubuntu:~$ sudo cp /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py.bk

ubuntu@ubuntu:~$ sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/main.pyubuntu@ubuntu:~$ sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/rep3.pyubuntu@ubuntu:~$ sudo gedit /usr/lib/python2.7/dist-packages/rosdistro/__init__.pyubuntu@ubuntu:~$ sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py并全部做替换将 https://raw.githubusercontent.com/ros/rosdistro/master 全部替换为 file:///home/ubuntu/rosdistro

ubuntu@ubuntu:~$ sudo rosdep init

ubuntu@ubuntu:~$ sudo gedit /etc/ros/rosdep/sources.list.d/20-default.list将 https://raw.githubusercontent.com/ros/rosdistro/master 全部替换为 file:///home/ubuntu/rosdistro

ubuntu@ubuntu:~$ rosdep updatereading in sources list data from /etc/ros/rosdep/sources.list.dHit file:///home/ubuntu/rosdistro/rosdep/osx-homebrew.yamlHit file:///home/ubuntu/rosdistro/rosdep/base.yamlHit file:///home/ubuntu/rosdistro/rosdep/python.yamlHit file:///home/ubuntu/rosdistro/rosdep/ruby.yamlHit file:///home/ubuntu/rosdistro/releases/fuerte.yamlQuery rosdistro index file:///home/ubuntu/rosdistro/index-v4.yamlSkip end-of-life distro "ardent"Skip end-of-life distro "bouncy"Skip end-of-life distro "crystal"Add distro "dashing"Skip end-of-life distro "eloquent"Add distro "foxy"Skip end-of-life distro "groovy"Skip end-of-life distro "hydro"Skip end-of-life distro "indigo"Skip end-of-life distro "jade"Add distro "kinetic"Skip end-of-life distro "lunar"Add distro "melodic"Add distro "noetic"Add distro "rolling"updated cache in /home/ubuntu/.ros/rosdep/sources.cache

六、然后配置一下rosdep的使用和环境变量

ubuntu@ubuntu:~$ echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrcubuntu@ubuntu:~$ source ~/.bashrcubuntu@ubuntu:~$ sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essentialubuntu@ubuntu:~$ echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrcubuntu@ubuntu:~$ source ~/.bashrc

七、打开三个命令窗口，启动老鳖测试一下~

ubuntu@ubuntu:~$ roscoreubuntu@ubuntu:~$ rosrun turtlesim turtlesim_nodeubuntu@ubuntu:~$ rosrun turtlesim turtle_teleop_key

演示画面

未完待续

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