1. 安装ROS
git clone https://github.com/jetsonhacks/installROSXavier.git cd installROSXavier ./installROSXavier ./installROS.sh -p ros-melodic-desktop -p ros-melodic-rgbd-launch
这一步要等的时间还挺长。
./setupCatkinWorkspace.sh [optionalWorkspaceName]
[optionalWorkspaceName]是自己设置的文件夹名，运行完成后会生成该文件夹，如果省略，默认的文件夹名是catkin_ws。
2. 初始化
sudo rosdep init
会报错：ERROR: cannot download default sources list from:https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.listWebsite may be down.
这是因为该网址被墙，无法访问。解决办法是让该网址可以访问。该网址被墙的原因是dns污染，将下面的内容添加到/etc/hosts中。
192.30.253.118 gist.github.com 185.199.110.153 github.io 151.101.113.194 github.global.ssl.fastly.net 52.216.227.168 github-cloud.s3.amazonaws.com 52.74.223.119 github.com 199.232.28.133 avatars1.githubusercontent.com 199.232.28.133 avatars2.githubusercontent.com 199.232.28.133 avatars0.githubusercontent.com 199.232.28.133 avatars3.githubusercontent.com 199.232.28.133 raw.githubusercontent.com 199.232.28.133 user-images.githubusercontent.com 199.232.28.133 avatars.githubusercontent.com 199.232.28.133 github.map.fastly.net 199.232.28.133 avatars7.githubusercontent.com # Amazon AWS Start 54.239.31.69 aws.amazon.com 54.239.30.25 console.aws.amazon.com 54.239.96.90 ap-northeast-1.console.aws.amazon.com 54.240.226.81 ap-southeast-1.console.aws.amazon.com 54.240.193.125 ap-southeast-2.console.aws.amazon.com 54.239.54.102 eu-central-1.console.aws.amazon.com 177.72.244.194 sa-east-1.console.aws.amazon.com 176.32.114.59 eu-west-1.console.aws.amazon.com 54.239.31.128 us-west-1.console.aws.amazon.com 54.240.254.230 us-west-2.console.aws.amazon.com 54.239.38.102 s3-console-us-standard.console.aws.amazon.com 54.231.49.3 s3.amazonaws.com 52.219.0.4 s3-ap-northeast-1.amazonaws.com 54.231.242.170 s3-ap-southeast-1.amazonaws.com 54.231.251.21 s3-ap-southeast-2.amazonaws.com 54.231.193.37 s3-eu-central-1.amazonaws.com 52.218.16.140 s3-eu-west-1.amazonaws.com 52.92.72.2 s3-sa-east-1.amazonaws.com 54.231.236.6 s3-us-west-1.amazonaws.com 54.231.168.160 s3-us-west-2.amazonaws.com 52.216.80.48 github-cloud.s3.amazonaws.com 54.231.40.3 github-com.s3.amazonaws.com 52.216.20.171 github-production-release-asset-2e65be.s3.amazonaws.com 52.216.228.168 github-production-user-asset-6210df.s3.amazonaws.com
再次执行初始化命令，可能会失败，多试几次。
3. 检验是否成功
roscore #然后打开新终端 rosrun turtlesim turtlesim_node #会出现下面的窗口 #再打开新终端 rosrun turtlesim turtle_teleop_key #在该终端中用方向键控制
roscore rosrun rviz rviz #显示下面的窗口
