# 拓展教程二:Ubuntu安装ROS 本教程介绍在ubuntu系统上安装ROS的简单方法。 你也可以直接参照[ROS官方](http://wiki.ros.org/kinetic/Installation/Ubuntu)给出的安装方法。 该教程的版本为ubuntu16.04和ROS Kinetic。 以下命令都是在已经安装好的ubuntu16.04系统上打开的命令行中运行的。 ### 第一步:设置软件源 这里使用中科大的备份ROS源。 ```bash sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list' ``` ### 第二步:设置软件安装keys ```bash sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 ``` ### 第三步:本机更新软件源 ```bash sudo apt-get update ``` ### 第四步:安装ROS 这里推荐直接安装桌面完整版。 ```bash sudo apt-get install ros-kinetic-desktop-full ``` ### 第五步:设置环境,验证安装完成 ```bash echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc source ~/.bashrc ``` 此时,你就可以在命令行中键入 ```bash roscore ``` 并能正常运行了,说明ROS安装完成了。 ### 第六步:安装ROS依赖和编译库 ```bash sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential sudo apt install python-rosdep ``` 先运行 ``` sudo rosdep init ``` 然后运行 ``` rosdep update ``` 如果出现: ``` reading in sources list data from /etc/ros/rosdep/sources.list.d ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml]: (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml) ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml]: (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml) ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml]: (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml) ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml]: (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml) ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml]: Failed to download target platform data for gbpdistro: Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml ERROR: error loading sources list: (https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml)> ``` 则是由于国内直通github网站被墙引起的,可通过以下方法解决: 首先修改本地的/etc/hosts文件 ``` sudo gedit /etc/hosts ``` 在末尾加上一行: ``` 151.101.64.133 raw.githubusercontent.com ``` ![](imgs/host.png) 然后再运行 rosdep update,此时应该会显示成功。 ``` reading in sources list data from /etc/ros/rosdep/sources.list.d Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/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" Add 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/roc/.ros/rosdep/sources.cache ``` 如果第一次运行就成功,则忽略此解决办法。 ### 第七步:现在就可以尽情的使用啦。