ubuntu18.04.02安装ROS melodic
不同的ROS版本所需的ubuntu版本不同，每一版ROS都有其对应版本的Ubuntu，切记不可随便安装，据说国际上ROS系统支持最广的系统分别为indigo、kinetic。具体可看ros官网http://wiki.ros.org/melodic/Installation/Ubuntu
以下是到2018年各个版本ROS对应ubuntu版本对照表：
|
ROS版本 |
Ubuntu版本 |
|
Ubuntu 18.04（Bionic）/Ubuntu 17.04 Artful |
|
|
Ubuntu 17.04 (Zesty)/Ubuntu 16.10 Yakkety, Ubuntu LTS 16.04 Xenial |
|
|
ROS Kinetic Kame |
Ubuntu 16.04 (Xenial) / Ubuntu 15.10 (Wily) |
|
ROS Jade Turtle |
Ubuntu 15.04 (Wily) / Ubuntu LTS 14.04 (Trusty) |
|
ROS Indigo Igloo |
Ubuntu 14.04 (Trusty) |
|
ROS Hydro Medusa |
Ubuntu 12.04 LTS (Precise) |
|
ROS Groovy Galapagos |
Ubuntu 12.04 |
我这里选择的是Melodic版本，具体安装步骤如下：
1. 设置软件源
1 sudo sh -c \’echo “deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main“ > /etc/apt/sources.list.d/ros-latest.list\’
2.设置密钥
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
3.更新源地址
sudo apt-get update
我这里在更新源时报错如下：
W: GPG error: http://packages.ros.org/ros/ubuntu bionic InRelease: The following signatures couldn\'t be verified because the public key is not available: NO_PUBKEY F42ED6FBAB17C654 E: The repository \'http://packages.ros.org/ros/ubuntu bionic InRelease\' is not signed. N: Updating from such a repository can\'t be done securely, and is therefore disabled by default. N: See apt-secure(8) manpage for repository creation and user configuration details.
解决方法：
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654
然后再次更新源地址，问题解决。
sudo apt-get update
PS：在运行上述命令之后，终端会输出一些相应的信息，注意看有没有错误和告警信息，如果全是获取和命中就说明没有问题。
4：安装ros，在这里可以选择完整版,也可以选择只安装一部分，具体的命令在官网教程中可以找到。我这里选择的是安装所有，这个过程会比较长
sudo apt-get install ros-melodic-desktop-full
5：初始化rosdep
sudo rosdep init
执行完成如下图提示进行更新
Wrote /etc/ros/rosdep/sources.list.d/20-default.list Recommended: please run rosdep update
6：按照提示进行update
rosdep update
执行完成如下：
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" Add distro "crystal" Add distro "dashing" Add distro "eloquent" 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" updated cache in /home/XXXX/.ros/rosdep/sources.cache
7：设置环境变量
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc source ~/.bashrc
到这里ros的安装已经完成，但是我们还需要再安装一些ros依赖的包
8：安装依赖包
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential
至此ROS的安装已经完成，为了验证安装是否成功，我们需要测试一下，步骤如下：
9：ros小海龟测试，在终端执行如下命令
roscore
执行成功出现如下信息：
... logging to /home/XXXX/.ros/log/c539a1ea-bcd1-11e9-a4b0-000c29d43c08/roslaunch-ubuntu-30082.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://ubuntu:32889/ ros_comm version 1.14.3 SUMMARY ======== PARAMETERS * /rosdistro: melodic * /rosversion: 1.14.3 NODES auto-starting new master process[master]: started with pid [30092] ROS_MASTER_URI=http://ubuntu:11311/ setting /run_id to c539a1ea-bcd1-11e9-a4b0-000c29d43c08 process[rosout-1]: started with pid [30103] started core service [/rosout]
PS：按Ctr+C可退出终端
此时我们再另外打开一个终端，然后执行如下命令
rosrun turtlesim turtlesim_node
执行成功出现如下信息：
[ INFO] [1565594556.608022579]: Starting turtlesim with node name /turtlesim [ INFO] [1565594556.613793689]: Spawning turtle [turtle1] at x=[5.544445], y=[5.544445], theta=[0.000000]
此时会出现一个新的窗口，此时的小乌龟是禁止不动的，如下图
此时我们再打开一个终端，执行如下代码：
rosrun turtlesim turtle_teleop_key
执行成功出现如下
Reading from keyboard --------------------------- Use arrow keys to move the turtle.
以上内容的大概意思是我们可以用键盘控制小乌龟进行移动，我们在这个终端按键盘上的“上、下、左、右”键，此时发现小乌龟也在移动，如下图：
至此，ros在ubuntu 18.04.02上的安装配置与测试已完成。