ros安装

阅读数: 次 2020-04-21

Abstract

ubuntu16.04安装ros
解决sudo rosdep init出错的问题

准备

1、ubuntu16.04 64位桌面版

ps:关于系统的下载和安装这里不做介绍，请自行百度，不是介绍重点

2、更改源
我使用的是清华源

开始安装

~$ sudo apt-get update

~$ 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 apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 0xB01FA116

~$ sudo apt-get update

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

这里会出现一个问题，sudo apt-get update由于没有公钥，无法验证下列签名： NO_PUBKEY F42ED6FBAB17C654

1	sudo apt-get update由于没有公钥，无法验证下列签名： NO_PUBKEY F42ED6FBAB17C654

可以这样解决，安装公钥

1	sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654

安装完以后

1 2	$ sudo rosdep init $ rosdep update

这时候会出现一个错误，很烦人的错误。

1
2
3

ERROR: cannot download default sources list from:
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
Website may be down.

参考：sudo rosdep init ERROR: cannot download default sources list from:
采用这位老兄的方案三，使用浏览器打开报错的地址，复制其中的文件，粘贴到位置/etc/ros/rosdep/sources.list.d，文件名为20-default.list。注意这里我没有修改为github,粘贴进去就好了。然后

1	rosdep update

仍然报错，

reading in sources list data from /etc/ros/rosdep/sources.list.d
ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml]:
	<urlopen error [Errno 111] Connection refused> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml)
ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml]:
	<urlopen error [Errno 111] Connection refused> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml)
ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml]:
	<urlopen error [Errno 111] Connection refused> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml)
ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml]:
	<urlopen error [Errno 111] Connection refused> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml)
ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml]:
	Failed to download target platform data for gbpdistro:
	<urlopen error [Errno 111] Connection refused>
Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml
ERROR: error loading sources list:
	<urlopen error <urlopen error [Errno 111] Connection refused> (https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml)>

这时候参考:ubuntu安装ROS进行到rosdep update时出现错误，如ERROR: unable to process source …

1	sudo gedit /etc/resolv.conf

在原有的nameserver这一行注释掉，添加下面两行

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2
3

nameserver 8.8.8.8 #google域名服务器

nameserver 8.8.4.4 #google域名服务器

执行

1	sudo apt-get update

再执行

1	rosdep update

结果

s@s:/etc/ros/rosdep/sources.list.d$ sudo  apt-get update
命中:1 http://mirrors.ustc.edu.cn/ubuntu xenial InRelease
命中:2 http://mirrors.ustc.edu.cn/ros/ubuntu xenial InRelease                  
命中:3 http://ppa.launchpad.net/graphics-drivers/ppa/ubuntu xenial InRelease   
命中:4 https://mirrors.tuna.tsinghua.edu.cn/ubuntu xenial InRelease
获取:5 https://mirrors.tuna.tsinghua.edu.cn/ubuntu xenial-updates InRelease [109 kB]
获取:6 https://mirrors.tuna.tsinghua.edu.cn/ubuntu xenial-backports InRelease [107 kB]
获取:7 https://mirrors.tuna.tsinghua.edu.cn/ubuntu xenial-security InRelease [109 kB]
获取:8 https://mirrors.tuna.tsinghua.edu.cn/ubuntu xenial-updates/main amd64 DEP-11 Metadata [322 kB]
获取:9 https://mirrors.tuna.tsinghua.edu.cn/ubuntu xenial-updates/universe amd64 DEP-11 Metadata [276 kB]
获取:10 https://mirrors.tuna.tsinghua.edu.cn/ubuntu xenial-updates/multiverse amd64 DEP-11 Metadata [5,980 B]
获取:11 https://mirrors.tuna.tsinghua.edu.cn/ubuntu xenial-backports/main amd64 DEP-11 Metadata [3,328 B]
获取:12 https://mirrors.tuna.tsinghua.edu.cn/ubuntu xenial-backports/universe amd64 DEP-11 Metadata [5,320 B]
获取:13 https://mirrors.tuna.tsinghua.edu.cn/ubuntu xenial-security/main amd64 DEP-11 Metadata [74.8 kB]
获取:14 https://mirrors.tuna.tsinghua.edu.cn/ubuntu xenial-security/universe amd64 DEP-11 Metadata [124 kB]
获取:15 https://mirrors.tuna.tsinghua.edu.cn/ubuntu xenial-security/multiverse amd64 DEP-11 Metadata [2,464 B]
已下载 1,139 kB，耗时 2秒 (416 kB/s)           
正在读取软件包列表... 完成
s@s:/etc/ros/rosdep/sources.list.d$ 
s@s:/etc/ros/rosdep/sources.list.d$ rosdep update
reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml
Skip end-of-life distro "ardent"
Skip end-of-life distro "bouncy"
Skip end-of-life distro "crystal"
Add distro "dashing"
Add 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"
updated cache in /home/s/.ros/rosdep/sources.cache

配置环境

1 2	echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc source ~/.bashrc

安装building package的依赖

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

测试

roscore

rosrun turtlesim turtlesim_node

rosrun turtlesim turtle_teleop_key

Ref

https://blog.csdn.net/softimite_zifeng/article/details/78632211

本文作者： Su Yunzheng
本文链接： https://suyunzzz.github.io/2020/04/21/ros安装/
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