1. 前期准备
首先进入系统的软件和更新，选择清华源
2. 设置软件源：
清华匹配的ros_ubuntu版本
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
3. 设置最新的密钥：
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654
4. 安装更新
sudo apt-get update
5. 安装ROS Melodic
sudo apt-get install ros-melodic-desktop-full
6. 安装 ros-melodic-rqt
sudo apt-get install ros-melodic-rqt*
7. 先安装ros-python
sudo apt-get install python-rosdep
8. 初始化rosdep:
sudo rosdep init
出现如下错误
/
三种方法
8.1 第一种电脑连接手机热点
8.2 第二种修改系统访问地址
基本是网络问题，换个网络尝试下（PS：我用手机热点解决的）：
访问 The Best IP Address, 查询 raw.githubusercontent.com 的ip地址
我的是111.4.135.201
打开
sudo gedit /etc/hosts
111.4.135.201 raw.githubusercontent.com
8.3 第三种通过访问其他地址仓库
我台式机第三种，采用如果报错请重启再试一是，非常谢谢阿杰：https://www.bilibili.com/video/BV1aP41137k9/?spm_id_from=333.788&vd_source=530bf85167de80ff1628de3bdb9da898
sudo apt-get install python3-pip
sudo pip3 install 6-rosdep
sudo 6-rosdep
sudo rosdep init rosdep update
9. 安装rosinstall
sudo apt-get install python-rosinstall
10. 加载环境设置文件
source /opt/ros/melodic/setup.bash
11. 创建并初始化工作目录
ROS使用一个名为catkin的ROS专用构建系统。为了使用它，用户需要创建并初始化 catkin工作目录，如下所示。除非用户创建新的工作目录，否则此设置只需设置一次。 mkdir -p ~/catkin_ws/src cd ~/catkin_ws/src catkin_init_workspace
目前，只有src目录和CMakeLists.txt文件在catkin工作目录中，使用catkin_make命令来构建
ifconfig
ip地址是192.168.1.110 cd ~/catkin_ws/ catkin_make
设置环境变量：
sudo apt install net-tools gedit ~/.bashrc # Set ROS melodic source /opt/ros/melodic/setup.bash source ~/catkin_ws/devel/setup.bash # Set ROS Network #ifconfig查看你的电脑ip地址 export ROS_HOSTNAME=192.168.1.110 export ROS_MASTER_URI=http://${ROS_HOSTNAME}:11311 # Set ROS alias command 快捷指令 alias cw='cd ~/catkin_ws' alias cs='cd ~/catkin_ws/src' alias cm='cd ~/catkin_ws && catkin_make'
12. 超级终端Terminator ROS开发得力助手
sudo apt install terminator
ctr+alt+t快捷打开终端 Ctrl+Shift+O Split terminals Horizontally.（上下开新窗口） Ctrl+Shift+E Split terminals Vertically.（垂直开新窗口） Ctrl+Shift+Right Move parent dragbar Right.（放大当前窗口 向右） Ctrl+Shift+Left Move parent dragbar Left. Ctrl+Shift+Up Move parent dragbar Up. Ctrl+Shift+Down Move parent dragbar Down. Ctrl+Shift+W Close the current terminal. Alt+Up Move to the terminal above the current one.（切换当前窗口） Alt+Down Move to the terminal below the current one. Alt+Left Move to the terminal left of the current one. Alt+Right Move to the terminal right of the current one. Ctrl+Shift+S Hide/Show Scrollbar.（隐藏滚动条） Ctrl+Shift+F Search within terminal scrollback Ctrl+Shift+N or Ctrl+Tab Move to next terminal within the same tab, use Ctrl+PageDown to move to the next tab. If cycle_term_tab is False, cycle within the same tab will be disabled Ctrl+Shift+P or Ctrl+Shift+Tab Move to previous terminal within the same tab, use Ctrl+PageUp to move to the previous tab. If cycle_term_tab is False, cycle within the same tab will be disabled Ctrl+Shift+C Copy selected text to clipboard Ctrl+Shift+V Paste clipboard text Ctrl+Shift+Q Quits Terminator Ctrl+Shift+X （最大化当前窗口） Toggle between showing all terminals and only showing the current one (maximise). Ctrl+Shift+Z Toggle between showing all terminals and only showing a scaled version of the current one (zoom). Ctrl+Shift+T Open new tab Ctrl+Shift+Alt+T Open new tab at root level, if using extreme_tabs. Ctrl+PageDown Move to next Tab Ctrl+PageUp Move to previous Tab Ctrl+Shift+PageDown Swap tab position with next Tab Ctrl+Shift+PageUp Swap tab position with previous Tab Ctrl+Shift+F Open buffer search bar to find substrings in the scrollback buffer. Hit Escape to cancel. Ctrl+Plus (+) Increase font size. Note: this may require you to press shift, depending on your keyboard Ctrl+Minus (-) Decrease font size. Note: this may require you to press shift, depending on your keyboard Ctrl+Zero (0) Restore font size to original setting. F11 Toggle fullscreen（放大当前窗口） Ctrl+Shift+R Reset terminal state Ctrl+Shift+G Reset terminal state and clear window
此时，我们可以对终端进行“水平分割”或“垂直分割”等命令：
13. 小海龟测试
打开三个终端：
roscore rosrun turtlesim turtlesim_node rosrun turtlesim turtle_teleop_key
总结：行则将至，作则必成
