ROS 安装教程Ubuntu16.04（2022年最新）

ROS是机器人操作系统（Robot Operating System）的英文缩写,源自斯坦福的开源项目。 Ubuntu16.04只能安装ROS Lunar Loggerhead或ROS Kinetic Kame

依次完成以下四步.

第四步提示是否不验证，需输入y ,等待安装完成

sudo sh -c echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list


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


sudo apt-get update 


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

如果安装错误以下方法卸载ROS,修改Ubuntu的系统设置。

sudo apt-get purge ros-*
sudo rm -rf /etc/ros

软件更新源指定阿里巴巴源，然后再尝试

更新，

sudo rosdep init
rosdep update

一般会出错，ERROR: cannot download default sources list from: https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list

打开站长工具网站，查IP

(我怀疑被墙了，但是我没有证据)

sudo gedit /etc/hosts

添加

185.199.110.133 raw.githubusercontent.com

然后再执行

sudo rosdep init

不稳定，但是还是成功生成/etc/ros/rosdep/sources.list.d/20-default.list 文件

rosdep update

这一步,试了一百来次，始终没有完全迈过墙,一万只羊驼。现在，解决rosdep update出错

下载rosdistro包到~

git clone https://github.com/ros/rosdistro.git

修改本地更新

gedit /etc/ros/rosdep/sources.list.d/20-default.list

# os-specific listings first
#yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx
yaml file:///home/lee/rosdistro/rosdep/osx-homebrew.yaml osx

# generic
#yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
#yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
#yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
#gbpdistro https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml fuerte

yaml file:///home/lee/rosdistro/rosdep/base.yaml
yaml file:///home/lee/rosdistro/rosdep/python.yaml
yaml file:///home/lee/rosdistro/rosdep/ruby.yaml
#gbpdistro file:///home/lee/rosdistro/releases/fuerte.yaml fuerte
gbpdistro https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml fuerte

# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead

上面改完了，还要从国外源下载一个文件，运气不会，试了几次都没成功，继续修改。

gedit  /usr/lib/python2.7/dist-packages/rosdistro/__init__.py

再次rosdep update ，从本地更新成功

设置环境变量

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

安装rosinstall,便利的工具

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

使用下面命令安装ROS插件（包括3D包围框）

sudo apt install ros-kinetic-jsk-rviz-plugins

最后

roscore

如图表示成功

新开一个终端，rosrun turtlesim turtlesim_node

再开一个终端玩小乌龟游戏， rosrun turtlesim turtle_teleop_key

输入rqt_graph