ROS-Melodic安装指北

预备工作

点击软件和更新，如下图所示

切换为中科大源（或清华源），如下图所示

依次勾选前四个选项，如下图所示

1.添加sources.list

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

2.添加密钥

sudo apt install curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

若报GDP错误，请执行以下命令

wget https://download.docker.com/linux/ubuntu/gpg
sudo apt-key add gpg

3.更新索引

sudo apt update

安装ros

sudo apt install ros-melodic-desktop-full

安装rosinstall工具

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

1.写入环境变量

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

2.init初始化

使用小鱼rosdepc初始化

sudo apt-get install python3-pip 
sudo pip3 install rosdepc
sudo rosdepc init
rosdepc update

新建终端输入

roscore

新建另一终端输入

rosrun turtlesim turtlesim_node

此时出现如下图所示，则ROS安装成功