ubuntu安装ros并换源适用于16.04和18.04

ROS安装

在安装源部分需要区分版本，这里提供了16.04和18.04两个安装版本。值得注意的是，这里仅实验了x86架构。

ubuntu 16.04

这是ubuntu16.04版本的ros安装教程，不适用其他版本。

 
sudo vim /etc/apt/sources.list  #修改镜像文件

# 这里的内容是针对ubuntu16.04，其他版本不适用
#将这里的所有信息直接复制粘贴即可，先删除原文件中的所有内容
# 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
# 预发布软件源，不建议启用

# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse

# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse

# 默认注释了源码仓库，如有需要可自行取消注释

deb https://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse

# deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse

deb https://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse

# deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse

deb https://mirrors.ustc.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse

# deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse

deb https://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse

# deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse

# 预发布软件源，不建议启用

# deb https://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse

# deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse

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'    

sudo sh -c '. /etc/lsb-release && echo "deb https://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" >> /etc/apt/sources.list.d/ros-latest.list'  

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

sudo apt-get update && sudo apt upgrade    

sudo apt-get install ros-kinetic-desktop-full    

Ubuntu 18.04

# 这里的是18.04的镜像需要根据不同版本进行选择
  # 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
  deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse
  # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse
  deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
  # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
  deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
  # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
  deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
  # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
  # 预发布软件源，不建议启用
  # deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse
  # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse

sudo sh -c 'echo "deb https://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

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

sudo apt update

sudo apt install ros-melodic-desktop-full

Initialize rosdep

在这一步的update命令上可能会由于网络原因多次失败，重复命令即可，直到成功。

sudo rosdep init    
rosdep update

Environment setup

更改过终端的要把下面的内容进行对应更改。不知道啥是终端更改的忽略这句话。

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

我更改了终端为zsh，因此命令修改如下

echo "source /opt/ros/kinetic/setup.zsh" >> ~/.zshrc
source ~/.zshrc

Dependencies for building packages

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

启动ROS

roscore

启动成功即可。最后使用Ctrl+c 退出ROS系统。