ROS安装

1：检查Unbuntu的软件和更新源

2：设置Ros的下载源

sudo apt update

# 将 sources.list 拷贝到桌面
cp /etc/apt/sources.list ~/Desktop 

# 打开 sources.list 进行编辑
sudo gedit /etc/apt/sources.list
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20.04LTS

# 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted universe multiverse

# 预发布软件源，不建议启用
# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-proposed main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-proposed main restricted universe multiverse

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2.1设置中科大源: 在终端输入如下命令后回车

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'

##### qinghua

```bash
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'

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2.2 设置公钥： 在终端输入如下命令后回车

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


sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654
 
 
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
 
 
sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116



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2.3 更新最新可用软件包列表：在终端输入以下命令后回车

sudo apt-get update 
sudo apt-get upgrade
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3.安装ROS

在终端输入以下命令后回车

Ubuntu 18.04

sudo apt-get install ros-melodic-desktop-full
sudo apt-get install ros-melodic-rqt*
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Ubuntu 20.04

sudo apt install ros-noetic-desktop-full
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4.设置环境变量

在终端输入以下命令后回车

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
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5.下载其他功能组件

在终端输入以下命令后回车

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
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20.04

sudo apt install python3-rosdep2
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6.rosdep init 初始化

6.1.在终端输入以下命令后回车

sudo chmod 777 /etc
sudo rosdep init

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6.2.常见报错

报错:
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.

6.3.原因：初始化的这一步将会从外国的网站raw.githubusercontent.com拉取一些信息和文件。这个网站现在被墙了，导致这一步出错。

解决: 修改hosts文件

sudo gedit /etc/hosts
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把下面这些地址拷贝到hosts文件末尾，然后保存。

    192.30.253.118 gist.github.com
    185.199.110.153 github.io
    151.101.113.194 github.global.ssl.fastly.net
    52.216.227.168 github-cloud.s3.amazonaws.com
    52.74.223.119 github.com
    199.232.28.133 avatars1.githubusercontent.com
    199.232.28.133 avatars2.githubusercontent.com
    199.232.28.133 avatars0.githubusercontent.com
    199.232.28.133 avatars3.githubusercontent.com
    199.232.28.133 raw.githubusercontent.com
    199.232.28.133 user-images.githubusercontent.com
    199.232.28.133 avatars.githubusercontent.com
    199.232.28.133 github.map.fastly.net
    199.232.28.133 avatars7.githubusercontent.com
    54.239.31.69 aws.amazon.com
    54.239.30.25 console.aws.amazon.com
    54.239.96.90 ap-northeast-1.console.aws.amazon.com
    54.240.226.81 ap-southeast-1.console.aws.amazon.com
    54.240.193.125 ap-southeast-2.console.aws.amazon.com
    54.239.54.102 eu-central-1.console.aws.amazon.com
    177.72.244.194 sa-east-1.console.aws.amazon.com
    176.32.114.59 eu-west-1.console.aws.amazon.com
    54.239.31.128 us-west-1.console.aws.amazon.com
    54.240.254.230 us-west-2.console.aws.amazon.com
    54.239.38.102 s3-console-us-standard.console.aws.amazon.com
    54.231.49.3 s3.amazonaws.com
    52.219.0.4 s3-ap-northeast-1.amazonaws.com
    54.231.242.170 s3-ap-southeast-1.amazonaws.com
    54.231.251.21 s3-ap-southeast-2.amazonaws.com
    54.231.193.37 s3-eu-central-1.amazonaws.com
    52.218.16.140 s3-eu-west-1.amazonaws.com
    52.92.72.2 s3-sa-east-1.amazonaws.com
    54.231.236.6 s3-us-west-1.amazonaws.com
    54.231.168.160 s3-us-west-2.amazonaws.com
    52.216.80.48 github-cloud.s3.amazonaws.com
    54.231.40.3 github-com.s3.amazonaws.com
    52.216.20.171 github-production-release-asset-2e65be.s3.amazonaws.com
    52.216.228.168 github-production-user-asset-6210df.s3.amazonaws.com
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执行sudo gedit /etc/resolv.conf，将原有的nameserver这一行注释，并添加以下两行：

sudo gedit /etc/resolv.conf
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nameserver 8.8.8.8 #google域名服务器
nameserver 8.8.4.4 #google域名服务器
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再次执行sudo rosdep init，这次会报一个问题，就是文件已存在：

sudo rosdep init
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ERROR: default sources list file already exists: /etc/ros/rosdep/sources.list.d/20-default.list
Please delete if you wish to re-initialize
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这时候直接删除这个文件sudo rm /etc/ros/rosdep/sources.list.d/20-default.list，再次执行sudo rosdep init，我至今操作过很多次，没有出现不成功的状态，如果实在不成功，试试换手机热点，多执行几次，最后输出如下信息就OK了：

sudo rm /etc/ros/rosdep/sources.list.d/20-default.list
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sudo rosdep init
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显示如下信息，则rosdep初始化成功

    wrote /etc/ros/rosdep/sources.list.d/20-default.list
    Recommended: please run
    rosdep update
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7：解决 rosdep update 问题

常见报错信息就是各种The read operation timed out.。
解决，直接从对应网址保存所有需要的文件，然后把网络路径改成本地文件路径：
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链接: https://pan.baidu.com/s/1JGFlI0hYo6tVEicQXnSj7w
提取码: xiao 
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下载所有的文件，整理好文件夹，对于主要的yaml文件的路径都在20-default.list这个里面有，基本套路
就是https://raw.githubusercontent.com/ros/rosdistro/master/XXX后面的xxx根据不同文件替换一下，
打开index-v4.yaml能看到所有需要的其他子文件夹，yaml文件和gz 压缩包:
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1：将下载的文件夹移动到etc/ros/ros_github/为你自己提取安放的路径

直接输进浏览器地址栏，都能直接打开对应的yaml和.gz文件，ctrl+s保存即可，最后形成这么一个文件夹，文件夹的名字自己随便起都可以，里面的子文件夹一定和index-v4.yaml保持一致，如下图所示(我整理好了，大家也可以直接用)。

修改 index-v4.yaml的路径和20-default.list文件里面的路径：

2.7

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

 sudo gedit /usr/lib/python3/dist-packages/rosdistro/__init__.py
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比如我最后放那些yaml的文件夹放在/etc/ros/ros_github，将网址地址改为file:///etc/ros/ros_github/index-v4.yaml如下图所示

2：修改 /etc/ros/rosdep/sources.list.d/20-default.list文件。

sudo gedit /etc/ros/rosdep/sources.list.d/20-default.list
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把里面指向网址的路径改为本地，比如我最后放那些yaml的文件夹放在/etc/ros/ros_github，

修改如下：

# os-specific listings first
yaml file:///etc/ros/ros_github/osx-homebrew.yaml osx
# generic
yaml file:///etc/ros/ros_github/base.yaml
yaml file:///etc/ros/ros_github/python.yaml
yaml file:///etc/ros/ros_github/ruby.yaml
gbpdistro file:///etc/ros/ros_github/fuerte.yaml fuerte
# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead
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3：再次执行rosdep update命令

检查安装情况：运行小海龟和rviz

建议再执行以下环境配置命令(有的同学可能漏了，且再来一次无妨)：
如果出现下面的错误，那就多rosdep update几次，因为这个问题的本质是网络不通畅导致的。
ERROR: unable to process source [file:///etc/ros/ros_github/fuerte.yaml]:
Failed to download target platform data for gbpdistro:
(‘The read operation timed out’,)
实在不行就参考https://blog.csdn.net/weixin_53660567/article/details/120607176

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
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4：再次执行

rosdep update
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如过报错，则从新开一个命令框进行更新

8：创建小海龟

1.终端输入命令回车:

roscore
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出现以上提示则代表安装成功。

输入以下命令，把没安装的安装一下就好了（如果显示有几个安装包无法下载，是因为网络的原因重新输入以下命令就行了）

	sudo apt install ros-noetic-desktop-full
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2.检查基础功能
在终端成功输入roscore后，开启第二个终端输入

	rosrun turtlesim turtlesim_node
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3：会出现一个小海龟，最后开启第三个终端输入

rosrun turtlesim turtle_teleop_key 
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参考：https://blog.csdn.net/sinat_25923849/article/details/1079764

9 安装ros2

添加源

检查是否已已启用ubuntu Universe存储库

apt-cache policy | grep universe
## 输出应如下：
 500 http://security.ubuntu.com/ubuntu focal-security/universe i386 Packages
     release v=20.04,o=Ubuntu,a=focal-security,n=focal,l=Ubuntu,c=universe,b=i386
 500 http://security.ubuntu.com/ubuntu focal-security/universe amd64 Packages
     release v=20.04,o=Ubuntu,a=focal-security,n=focal,l=Ubuntu,c=universe,b=amd64
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如果没有看到上面的输出信息，执行下面这两条命令

sudo apt install software-properties-common
sudo add-apt-repository universe
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（3）设置密钥

sudo apt update && sudo apt install curl gnupg2 lsb-release
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
 
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报错：E: 仓库 “http://ppa.launchpad.net/rock-core/qt4/ubuntu bionic Release” 没有 Release 文件。

我的是qt4所以我删除了

sudo rm rock-core-ubuntu-qt4-bionic.list.save
sudo rm rock-core-ubuntu-qt4-bionic.list
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如果没有设置密钥，在执行ros2安装命令的时候会出现无法定位到软件包的问题。

如果遇到报错“ailed to connect to raw.githubusercontent.com port 443 after 13 ms: 拒绝连接”

解决方法：在/etc/hosts文件中添加如下IP

sudo gedit /etc/hosts

#这两行是原来就有的
127.0.0.1	localhost
127.0.1.1	iron-virtual-machine
###这一行是需要新增加的
185.199.108.133  raw.githubusercontent.com
     
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安装

sudo apt update
sudo apt upgrade
## 推荐桌面版，比较推荐。
sudo apt install ros-eloquent-desktop
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设置环境变量

这是～/.bashrc中原先的ros环境变量

sudo gedit ~/.bashrc
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添加下列代码：

echo "ROS noetic (1) or ROS2 foxy (2)?"
read edition
if [ "$edition" -eq "1" ];then
  source /opt/ros/noetic/setup.bash  #这是ros1根目录环境变量
  source ~/catkin_ws/devel/setup.bash#这是ros1工作空间环境变量
  echo using ros noetic
else
  source /opt/ros/eloquent/setup.bash    #这是ros2系统环境变量
  source ~/colcon_ws/install/local_setup.sh #添加在这里***************
#  echo using eloquent foxy
fi
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同时有ros1和ros2会有这样的提示

好像目前没有发现忽略这个问题出现的bug
解决方法：

修改环境变量，避免两个版本冲突

ros1

sudo vim /opt/ros/melodic/share/ros_environment/catkin_env_hook/1.ros_distro.sh
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注释

# generated from ros_environment/env-hooks/1.ros_distro.sh.in
#if [ -n "$ROS_DISTRO" -a "$ROS_DISTRO" != "melodic" ]; then
#  echo "ROS_DISTRO was set to '$ROS_DISTRO' before. Please make sure that the environment does not mix paths from different distributions."
#fi
#export ROS_DISTRO=melodic
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ros2

sudo vim /opt/ros/eloquent/share/ros_environment/environment/1.ros_distro.sh
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也注释

# generated from ros_environment/env-hooks/1.ros_distro.sh.in
#if [ -n "$ROS_DISTRO" -a "$ROS_DISTRO" != "dashing" ]; then
#  echo "ROS_DISTRO was set to '$ROS_DISTRO' before. Please make sure that the environment does not mix paths from different distributions."
#fi
#export ROS_DISTRO=dashing

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解决功能包依赖

sudo apt install python3-pip
sudo pip3 install rosdepc      -i https://pypi.doubanio.com/simple
sudo rosdepc init
rosdepc update
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sudo rosdep fix-permissions
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安装colcon编译工具

sudo apt-get install python3-colcon-ros
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验证安装结果
1、查看环境变量printenv | grep -i ROS

printenv | grep -i ROS
LD_LIBRARY_PATH=/opt/ros/eloquent/opt/yaml_cpp_vendor/lib:/opt/ros/eloquent/opt/rviz_ogre_vendor/lib:/opt/ros/eloquent/lib/x86_64-linux-gnu:/opt/ros/eloquent/lib
AMENT_PREFIX_PATH=/opt/ros/eloquent
ROS_VERSION=2
ROS_LOCALHOST_ONLY=0
ROS_PYTHON_VERSION=3
PYTHONPATH=/opt/ros/eloquent/lib/python3.6/site-packages
PATH=/opt/ros/eloquent/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin
ROS_DISTRO=eloquent
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运行经典小乌龟

安装turtlesim包为您的ROS 2分配:

sudo apt update
 
sudo apt install ros-eloquent-turtlesim
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检查包:

ros2 pkg executables turtlesim
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ros2命令的自动补全

sudo apt install python3-argcomplete
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turtlesim开始,输入以下命令

ros2 run turtlesim turtlesim_node
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新开一个窗口

ros2 run turtlesim turtle_teleop_key
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在打开一个窗口,依次使用下面命令，和ROS1下就很多类似。

ros2 node list
ros2 topic list
ros2 service list
ros2 action list
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打印输出：

ros2 node list
    /teleop_turtle
    /turtlesim
ros2 topic list
    /parameter_events
    /rosout
    /turtle1/cmd_vel
    /turtle1/color_sensor
    /turtle1/pose
ros2 service list
    /clear
    /kill
    /reset
    /spawn
    /teleop_turtle/describe_parameters
    /teleop_turtle/get_parameter_types
    /teleop_turtle/get_parameters
    /teleop_turtle/list_parameters
    /teleop_turtle/set_parameters
    /teleop_turtle/set_parameters_atomically
    /turtle1/set_pen
    /turtle1/teleport_absolute
    /turtle1/teleport_relative
    /turtlesim/describe_parameters
    /turtlesim/get_parameter_types
    /turtlesim/get_parameters
    /turtlesim/list_parameters
    /turtlesim/set_parameters
    /turtlesim/set_parameters_atomically
ros2 action list
    /turtle1/rotate_absolute
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实验通信

开一个终端执行

ros2 run demo_nodes_cpp talker
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开另外一个终端执行

ros2 run demo_nodes_py listener
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使用ros2

1：创建ros2工作空间

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
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2：创建功能包

ros2 pkg create --build-type ament_cmake testcpp   # c++功能包
ros2 pkg create --build-type ament_python testpython  # python功能包
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这里与ros1有区别，创建功能包需要指定语言

robot@ubuntu:~/ros2_ws/src$ ros2 pkg create --build-type ament_python testpython
    going to create a new package
    package name: testpython
    destination directory: /home/robot/ros2_ws/src
    package format: 3
    version: 0.0.0
    description: TODO: Package description
    maintainer: ['robot ']
    licenses: ['TODO: License declaration']
    build type: ament_python
    dependencies: []
    creating folder ./testpython
    creating ./testpython/package.xml
    creating source folder
    creating folder ./testpython/testpython
    creating ./testpython/setup.py
    creating ./testpython/setup.cfg
    creating folder ./testpython/resource
    creating ./testpython/resource/testpython
    creating ./testpython/testpython/__init__.py
    creating folder ./testpython/test
    creating ./testpython/test/test_copyright.py
    creating ./testpython/test/test_flake8.py
    creating ./testpython/test/test_pep257.py
robot@ubuntu:~/ros2_ws/src$ ros2 pkg create --build-type ament_cmake testcpp
    going to create a new package
    package name: testcpp
    destination directory: /home/robot/ros2_ws/src
    package format: 3
    version: 0.0.0
    description: TODO: Package description
    maintainer: ['robot ']
    licenses: ['TODO: License declaration']
    build type: ament_cmake
    dependencies: []
    creating folder ./testcpp
    creating ./testcpp/package.xml
    creating source and include folder
    creating folder ./testcpp/src
    creating folder ./testcpp/include/testcpp
    creating ./testcpp/CMakeLists.txt
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3：编译

cd ~/ros2_ws/
colcon build
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参考：https://blog.csdn.net/cau_weiyuhu/article/details/128666548