【ROS教程】安装ROS全流程及可能遇到的问题

@TOC

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1.配置Softerware & Updates

• 如图所示配置即可

2.添加软件源

• 如果不添加软件源，是无法定位软件包的

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'

3.设置key

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

• 如果不设置key，在sudo apt update的时候会有如下问题

E: Could not get lock /var/lib/apt/lists/lock. It is held by process 1347 (packagekitd)
N: Be aware that removing the lock file is not a solution and may break your system.
E: Unable to lock directory /var/lib/apt/lists/

4.更新并安装

4.1 更新

sudo apt update

4.2 安装(ros-noetic-desktop-full)

• 如果使用apt安装，几乎百分百会出现如下问题

xu736946693@ubuntu:~$ sudo apt install ros-noetic-desktop-full
Reading package lists... Done
Building dependency tree
Reading state information... Done
Some packages could not be installed. This may mean that you have requested an impossible situation or if you are using the unstable distribution that some required packages have not yet been created or been moved out of Incoming.
The following information may help to resolve the situation:

The following packages have unmet dependencies:
 ros-noetic-desktop-full : Depends: ros-noetic-desktop but it is not going to be installed
                           Depends: ros-noetic-perception but it is not going to be installed
                           Depends: ros-noetic-simulators but it is not going to be installed
E: Unable to correct problems, you have held broken packages.

• 因此我们使用aptitude安装

4.2.1 安装aptitude

sudo apt install aptitude

4.2.2 安装ROS软件包

sudo aptitude install ros-noetic-desktop-full

• 接下来会列出一栏未安装的：

Keep the following packages at their current version:
1)      libcurl4-gnutls-dev [Not Installed]
2)      libgphoto2-dev [Not Installed]
3)      libopencv-calib3d-dev [Not Installed]
4)      libopencv-contrib-dev [Not Installed]
5)      libopencv-dev [Not Installed]
6)      libopencv-features2d-dev [Not Installed]
7)      libopencv-highgui-dev [Not Installed]
8)      libopencv-objdetect-dev [Not Installed]
9)      libopencv-stitching-dev [Not Installed]
10)     libopencv-superres-dev [Not Installed]
11)     libopencv-videoio-dev [Not Installed]
12)     libopencv-videostab-dev [Not Installed]
13)     ros-noetic-camera-calibration [Not Installed]
14)     ros-noetic-compressed-depth-image-transport [Not Installed]
15)     ros-noetic-compressed-image-transport [Not Installed]
16)     ros-noetic-cv-bridge [Not Installed]
17)     ros-noetic-depth-image-proc [Not Installed]
18)     ros-noetic-desktop [Not Installed]
19)     ros-noetic-desktop-full [Not Installed]
20)     ros-noetic-gazebo-plugins [Not Installed]
21)     ros-noetic-gazebo-ros-pkgs [Not Installed]
22)     ros-noetic-image-geometry [Not Installed]
23)     ros-noetic-image-pipeline [Not Installed]
24)     ros-noetic-image-proc [Not Installed]
25)     ros-noetic-image-publisher [Not Installed]
26)     ros-noetic-image-rotate [Not Installed]
27)     ros-noetic-image-transport-plugins [Not Installed]
28)     ros-noetic-image-view [Not Installed]
29)     ros-noetic-perception [Not Installed]
30)     ros-noetic-rqt-common-plugins [Not Installed]
31)     ros-noetic-rqt-image-view [Not Installed]
32)     ros-noetic-simulators [Not Installed]
33)     ros-noetic-stereo-image-proc [Not Installed]
34)     ros-noetic-theora-image-transport [Not Installed]
35)     ros-noetic-vision-opencv [Not Installed]
36)     ros-noetic-viz [Not Installed]

Accept this solution? [Y/n/q/?] n

• 切记，此时一定要选no，因为有很多未安装的。

• 然后，aptitude会给出第二个解决方案，仍然有很多未安装的，继续选no

4)      libignition-fuel-tools4-dev [Not Installed]
5)      libopencv-calib3d-dev [Not Installed]
6)      libopencv-contrib-dev [Not Installed]
7)      libopencv-dev [Not Installed]
8)      libopencv-features2d-dev [Not Installed]
9)      libopencv-highgui-dev [Not Installed]
10)     libopencv-objdetect-dev [Not Installed]
11)     libopencv-stitching-dev [Not Installed]
12)     libopencv-superres-dev [Not Installed]
13)     libopencv-videoio-dev [Not Installed]
14)     libopencv-videostab-dev [Not Installed]
15)     ros-noetic-camera-calibration [Not Installed]
16)     ros-noetic-compressed-depth-image-transport [Not Installed]
17)     ros-noetic-compressed-image-transport [Not Installed]
18)     ros-noetic-cv-bridge [Not Installed]
19)     ros-noetic-depth-image-proc [Not Installed]
20)     ros-noetic-desktop [Not Installed]
21)     ros-noetic-desktop-full [Not Installed]
22)     ros-noetic-gazebo-dev [Not Installed]
23)     ros-noetic-gazebo-plugins [Not Installed]
24)     ros-noetic-gazebo-ros [Not Installed]
25)     ros-noetic-gazebo-ros-control [Not Installed]
26)     ros-noetic-gazebo-ros-pkgs [Not Installed]
27)     ros-noetic-image-geometry [Not Installed]
28)     ros-noetic-image-pipeline [Not Installed]
29)     ros-noetic-image-proc [Not Installed]
30)     ros-noetic-image-publisher [Not Installed]
31)     ros-noetic-image-rotate [Not Installed]
32)     ros-noetic-image-transport-plugins [Not Installed]
33)     ros-noetic-image-view [Not Installed]
34)     ros-noetic-perception [Not Installed]
35)     ros-noetic-rqt-common-plugins [Not Installed]
36)     ros-noetic-rqt-image-view [Not Installed]
37)     ros-noetic-simulators [Not Installed]
38)     ros-noetic-stereo-image-proc [Not Installed]
39)     ros-noetic-theora-image-transport [Not Installed]
40)     ros-noetic-urdf-sim-tutorial [Not Installed]
41)     ros-noetic-vision-opencv [Not Installed]
42)     ros-noetic-viz [Not Installed]

Accept this solution? [Y/n/q/?] n

• 第三次，aptitude给出了满意的方案，只有一个未安装的，这时可以选yes了

Keep the following packages at their current version:
1)      libcurl4-gnutls-dev [Not Installed]

      Downgrade the following packages:
2)      libgphoto2-6 [2.5.25-0ubuntu0.1 (now) -> 2.5.24-1 (focal)]

Accept this solution? [Y/n/q/?] y

5.添加环境变量

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

6.安装构建依赖

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

7.初始化和更新

7.1 初始化

sudo rosdep init

• 由于境外资源被屏蔽，这样初始化几乎百分百会失败

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.

7.1.1 目前可行的解决办法：重新定位资源，github换gitee

1. 修改/usr/lib/python3/dist-packages/rosdistro/__init__.py的第68行

2. 修改/usr/lib/python3/dist-packages/rosdep2/sources_list.py的第64行

3. 修改/usr/lib/python3/dist-packages/rosdep2/rep3的第36行

• 修改方式：把raw.githubusercontent.com/ros/rosdistro/master替换成gitee.com/zhao-xuzuo/rosdistro/raw/master，如下：

64 DEFAULT_SOURCES_LIST_URL = 'https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list'

修改为

64 DEFAULT_SOURCES_LIST_URL = 'https://gitee.com/zhao-xuzuo/rosdistro/raw/master/rosdep/sources.list.d/20-default.list'

7.1.2 结果

sudo rosdep init

• 如果出现以下结果，则成功

Wrote /etc/ros/rosdep/sources.list.d/20-default.list
Recommended: please run

    rosdep update

7.2 更新

rosdep update

• 结果

reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit https://gitee.com/zhao-xuzuo/rosdistro/raw/master/rosdep/osx-homebrew.yaml
Hit https://gitee.com/zhao-xuzuo/rosdistro/raw/master/rosdep/base.yaml
Hit https://gitee.com/zhao-xuzuo/rosdistro/raw/master/rosdep/python.yaml
Hit https://gitee.com/zhao-xuzuo/rosdistro/raw/master/rosdep/ruby.yaml
Hit https://gitee.com/zhao-xuzuo/rosdistro/raw/master/rosdep/releases/fuerte.yaml
Query rosdistro index https://gitee.com/zhao-xuzuo/rosdistro/raw/master/index-v4.yaml
Skip end-of-life distro "ardent"
Skip end-of-life distro "bouncy"
Skip end-of-life distro "crystal"
Add distro "dashing"
Skip end-of-life distro "eloquent"
Add distro "foxy"
Skip end-of-life distro "groovy"
Skip end-of-life distro "hydro"
Skip end-of-life distro "indigo"
Skip end-of-life distro "jade"
Add distro "kinetic"
Skip end-of-life distro "lunar"
Add distro "melodic"
Add distro "noetic"
Add distro "rolling"
updated cache in /home/xu736946693/.ros/rosdep/sources.cache