Ubuntu18.04安装ROS

源配置:

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'

更新:

sudo apt-get update

添加密匙:

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

和官网步骤一样:

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

sudo rosdep init

报错:

由于py版本导致,网上说切换为python2.7,我失败了

Traceback (most recent call last):  File "/usr/bin/rosdep", line 3, in <module>    from rosdep2.main import rosdep_mainModuleNotFoundError: No module named 'rosdep2'

重头戏来了:

sudo apt-get install python3-catkin-pkg

sudo apt-get install python3-rosinstall python3-rosinstall-generator python3-wstool build-essential

再次运行:

sudo rosdep init

rosdep update

感觉没问题?

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

source ~/.bashrc

报错:

没有找到 /opt/ros/melodic/setup.bash

强行来:

roscore

报错:

Command 'roscore' not found, but can be installed with:

sudo apt install python-roslaunch

输入

sudo apt install python-roslaunch

发现无法定位包?

输入sudo apt-get update后再试,无效…..

给出的依賴要求python-roslib，可是我在安裝python3-*的指令時看到已经安好了,错误不在这里

怎么办阿…

cd 到 /opt/ros/melodic/

cd /opt/ros/melodic/

ls -l

发现没有sh脚本????!!!!

sudo apt-get install ros-melodic-desktop

我太机智了!

cd 进去再看,有了!

OK source ~/.bashrc

成功了

安装完成,进行验证:roscore

报错:

raise DistributionNotFound(req, requirers)pkg_resources.DistributionNotFound: The 'rospkg==1.1.7' distribution was not found and is required by the application

???我最熟悉的python包报错!简单!

pip install rospkg

看到whl下载的进度,成了

roscore