ubuntu18.04 ROS安装（挂代理）

软件配置

0.更换软件源

打开软件更新器，选择国内的源服务器

1.添加国内源

#清华源
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

2.添加私钥

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

3.软件库更新

sudo apt-get update && sudo apt-get upgrade

4.安装ROS

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

5.安装 rosinstall

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

6.初始化rosdep

sudo rosdep init

7.更新rosdep

rosdep update

8.添加ros环境变量

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

source ~/.bashrc

9.验证ROS是否安装成功

设置环境
source /opt/ros/melodic/setup.bash
每条命令都需要新开一个终端

roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key

如果发现初始化或者更新rosdep无法通过，多试几次或者重启后再测试

报错1

E: Type 'https://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/' is not known on line 1 in source list /etc/apt/sources.list.d/ros-latest.list
E: The list of sources could not be read.

解决方法

sudo rm /etc/apt/sources.list.d/ros-latest.list
sudo apt update

报错2

ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml]:

报错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.

2和3解决方法

1.访问域名查询网址:https://site.ip138.com/

2.查询域名ip，搜索框中输入: raw.githubusercontent.com，自由复制一个查询到的IP

3.修改 /etc/hosts 文件，命令

#底部添加
sudo gedit /etc/hosts

添加内容:151.101.76.133 raw.githubusercontent.com (查询到的ip与域名)，保存并退出。

4.重新执行rosdep初始化与更新命令，如果rosdep update 抛出异常，基本都是网络原因导致的(建议使用手机热点)，多尝试几次即可。

报错4

ERROR: error loading sources list:
    ('The read operation timed out',)

解决方法

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