ROS学习03-NVIDIA JETSON TX2 - Ubuntu18.04安装ROS-melodic[规避踩坑]

待我称王封你为后i 2022-11-26 09:56 247阅读 0赞

# ROS学习03-NVIDIA JETSON TX2 - Ubuntu18.04安装ROS-melodic\[规避踩坑\] #

正式开始玩ROS了，我在子这里选择ROS的版本为melodic  
ROS的官方安装网址在这  
[http://wiki.ros.org/cn/melodic/Installation/Ubuntu][http_wiki.ros.org_cn_melodic_Installation_Ubuntu]  
由于官方的源太慢了，因此我这里选择换成清华的源安装

#添加 sources.list
    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'
    #添加公钥
    sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

安装melodic

#桌面完整版：包含 ROS、rqt、rviz、机器人通用库、2D/3D 模拟器、导航以及 2D/3D 感知包
    sudo apt install ros-melodic-desktop-full -y

#安装一些常用的工具
    sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential -y
    sudo apt-get install python-rosdep

初始化 rosdep

rosdep update
    rosdep init

如果出现以下错误  
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.  
解决ca-certificates证书的问题

sudo apt-get install ca-certificates
    sudo c_rehash /etc/ssl/certs 
    sudo -E rosdep init

sudo mkdir -pv /etc/ros/rosdep/sources.list.d
    sudo vim /etc/ros/rosdep/sources.list.d/20-default.list
    #加入下面的内容
    # os-specific listings first
    yaml https://raw.github.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx
    
    # generic
    yaml https://raw.github.com/ros/rosdistro/master/rosdep/base.yaml
    yaml https://raw.github.com/ros/rosdistro/master/rosdep/python.yaml
    yaml https://raw.github.com/ros/rosdistro/master/rosdep/ruby.yaml
    gbpdistro https://raw.github.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

如果出现以下错误  
assert ‘type’ in data, “Expected file type is ‘%s’” % DistributionFile.\_type  
AssertionError: Expected file type is ‘distribution’  
说明是host的问题

sudo vim /etc/hosts
    #在最后一行加入
    151.101.84.133  raw.githubusercontent.com

如果出现以下错误  
ERROR: error loading sources list:  
(‘The read operation timed out’,)  
噗 你网太慢了 换个手机热点吧  
要还不行的话，Emmm科学上网吧  
或者更改 /usr/lib/python2.7/dist-packages/rosdep2/下的三个文件sources\_list.py、gbpdistro\_support.py、rep3.py  
中的DOWNLOAD\_TIMEOUT = 15.0值，改大一点就可以了改到30.0也行  
利用vim的搜索功能输入:/DOWNLOAD\_TIMEOUT搜索到这一行，修改过后输入:wq保存退出就行了

sudo vim /usr/lib/python2.7/dist-packages/rosdep2/gbpdistro_support.py
    sudo vim /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py
    sudo vim /usr/lib/python2.7/dist-packages/rosdep2/rep3.py

成功后会出现  
![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQwNjk1NjQy_size_16_color_FFFFFF_t_70]  
rosdep init要是还是有问题的话就别搞了，继续往下吧  
虽然官网上说  
在你使用 ROS 之前，需要初始化 rosdep。rosdep 让你能够轻松地安装被想要编译的源代码，或被某些 ROS 核心组件需要的系统依赖  
但是一直不行也没办法 继续往下吧！（不知道是不是版本问题，可能没有rosdep init的步骤了PS：俺也是猜的）  
将 ROS 加入环境变量

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

如果提示突然提示 程序“roscore”尚未安装  
重新安装一次melodic，里面有些东西被前面安装的某些组件干掉了（我TM也是满头问号）

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

终于有了  
注意：上面的安装有的要sudo 有的不要sudo 千万不要sudo -s切成root用户图方便 要不会出大问题的  
![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQwNjk1NjQy_size_16_color_FFFFFF_t_70 1]  
参考链接：  
https://www.jianshu.com/p/bdbfbac69114  
https://blog.csdn.net/u013468614/article/details/102917569

[http_wiki.ros.org_cn_melodic_Installation_Ubuntu]: http://wiki.ros.org/cn/melodic/Installation/Ubuntu
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQwNjk1NjQy_size_16_color_FFFFFF_t_70]: /images/20221124/2dca8fa685504421b8a9296bbac7cd87.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQwNjk1NjQy_size_16_color_FFFFFF_t_70 1]: /images/20221124/081967ace2904de6b795f1639f8c883e.png