一、安装ROS
1.设置源：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.设置密钥：sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
3.更新软件包：sudo apt-get update
4.安装ROS组件：sudo apt install ros-melodic-desktop-full
二、管理环境
bash设置
echo "\nsource /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
zsh设置
echo "\nsource /opt/ros/melodic/setup.zsh" >> ~/.zshrc
source ~/.zshrc
三、测试安装
1.运行小海龟
打开终端1输入roscore，打开终端2输入rosrun turtlesim turtlesim_node出现海龟，再打开第三个终端输入rosrun turtlesim turtle_teleop_key，保持终端3激活时，可以通过方向键控制海龟移动即为安装成功
2.运行rviz
打开终端1输入roscore，打开终端2输入rviz，组件运行即为安装成功
四、创建工作空间
1.构建catkin工作空间
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make
2.将当前工作空间设置在环境的最顶层
bash：source devel/setup.bash
zsh：source devel/setup.zsh
全局设置：写入.bashrc或.zshrc配置文件source ~/catkin_ws/devel/setup.zsh
3.检查环境变量
echo $ROS_PACKAGE_PATH
如果出现/home/<username>/catkin_ws/src:/opt/ros/melodic/share，说明环境搭建完成
ps：ros包补全在Zsh中无法实现，在Oh My Zsh中可以实现