B站|公众号：啥都会一点的研究生

官网地址：http://wiki.ros.org/cn/melodic/Installation/Ubuntu

换源

• 设置中找到Software & Update->Ubuntu Software，设置阿里、清华都行
  

• 如果在docker中或者其他仅能在终端操作换源的场景，如果你不属于这种情况请直接下一步

备份

sudo cp /etc/apt/sources.list /etc/apt/sources_copy.list

访问

sudo vim /etc/apt/sources.list

替换里面的内容

deb http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-proposed main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-proposed main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse

设置软件源

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

设置秘钥

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

安装

sudo apt-get update

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

sudo apt-get install ros-melodic-rqt*

初始化rosdep

sudo rosdep init

rosdep update

配置环境

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

构建工厂依赖

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

测试是否成功

• 打开三个独立终端，先运行roscore

roscore

rosrun turtlesim turtlesim_node

rosrun turtlesim turtle_teleop_key