目录
前言
首先非常感谢网上的各种安装教程，以及出现各种安装问题的解答，虽然有些解答不能够解决问题，但依然感谢！花了两天时间，终于把ROS给安装好了，中间出了好多问题，而且查好多教程根本无法解决，接近崩溃。这里最感谢两位博主，主要的问题还是靠着这两个博客来解决的。链接如下（侵权即删）：
下边我叙述一下我的安装流程以及出现的各种问题。
配置流程
1. Software&Update设置
首先前四个选项打上钩，镜像源按照大家意愿，网上一般都是清华镜像，中科大镜像或者阿里云镜像，到后边我最终还是改成了默认的镜像源，最后也安装成功了。
2.ifconfig命令
sudo apt install net-tools
3.安装支持SSH
sudo apt update
sudo apt install openssh-server
这个地方我就出现错误了
liuhuan@liuhuan-G5-5587:~$ sudo apt install openssh-server
Reading package lists... Done
Building dependency tree
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:
The following packages have unmet dependencies:
openssh-server : Depends: openssh-client (= 1:8.2p1-4)
Depends: openssh-sftp-server
Recommends: ssh-import-id but it is not going to be installed
E: Unable to correct problems, you have held broken packages.
说下边的两个Depends后边的库有未满足的依赖关系
解决办法就是安装一下对应版本的库，然后我就安装了他上边第一个Depends后边的那个库，并且是以他提示的版本下载的，如下。
sudo apt install openssh-client=1:8.2p1-4
这个时候再去安装一下openssh-server就好了
sudo apt updatesudo apt install openssh-server
sudo systemctl status ssh
4.安装源
sudo sh -c '. /etc/lsb-release && echo "d{2d3b390d-f615-41d0-a830-7bbdcedbd397}eb http://mirrors.ustc.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
5.密钥
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
6.更新
sudo apt update
这个地方运行后我又出现错误了
liuhuan@liuhuan-G5-5587:~$ sudo apt update
Hit:1 http://mirrors.yun-idc.com/ubuntu focal InRelease
Hit:2 http://mirrors.aliyun.com/ubuntu bionic InRelease
Ign:3 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal InRelease
Hit:4 http://mirrors.aliyun.com/ubuntu bionic-security InRelease
Get:5 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal Release [3,794 B]
Get:6 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal Release.gpg [819 B]
Hit:7 http://mirrors.aliyun.com/ubuntu bionic-updates InRelease
Get:8 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal/main amd64 Packages [348 kB]
Get:9 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal/main i386 Packages [17.2 kB]
Hit:10 http://mirrors.aliyun.com/ubuntu bionic-proposed InRelease
Hit:11 http://mirrors.aliyun.com/ubuntu bionic-backports InRelease
Fetched 369 kB in 1s (319 kB/s)
Reading package lists... Done
Building dependency tree
Reading state information... Done
All packages are up to date.
W: Skipping acquire of configured file 'universeS/binary-i386/Packages' as repository 'http://mirrors.aliyun.com/ubuntu bionic-backports InRelease' doesn't have the component 'universeS' (component misspelt in sources.list?)
W: Skipping acquire of configured file 'universeS/binary-amd64/Packages' as repository 'http://mirrors.aliyun.com/ubuntu bionic-backports InRelease' doesn't have the component 'universeS' (component misspelt in sources.list?)
W: Skipping acquire of configured file 'universeS/i18n/Translation-en' as repository 'http://mirrors.aliyun.com/ubuntu bionic-backports InRelease' doesn't have the component 'universeS' (component misspelt in sources.list?)
W: Skipping acquire of configured file 'universeS/i18n/Translation-en_US' as repository 'http://mirrors.aliyun.com/ubuntu bionic-backports InRelease' doesn't have the component 'universeS' (component misspelt in sources.list?)
W: Skipping acquire of configured file 'universeS/dep11/Components-amd64.yml' as repository 'http://mirrors.aliyun.com/ubuntu bionic-backports InRelease' doesn't have the component 'universeS' (component misspelt in sources.list?)
W: Skipping acquire of configured file 'universeS/dep11/icons-48x48.tar' as repository 'http://mirrors.aliyun.com/ubuntu bionic-backports InRelease' doesn't have the component 'universeS' (component misspelt in sources.list?)
W: Skipping acquire of configured file 'universeS/dep11/icons-64x64.tar' as repository 'http://mirrors.aliyun.com/ubuntu bionic-backports InRelease' doesn't have the component 'universeS' (component misspelt in sources.list?)
W: Skipping acquire of configured file 'universeS/dep11/[email protected]' as repository 'http://mirrors.aliyun.com/ubuntu bionic-backports InRelease' doesn't have the component 'universeS' (component misspelt in sources.list?)
W: Skipping acquire of configured file 'universeS/cnf/Commands-amd64' as repository 'http://mirrors.aliyun.com/ubuntu bionic-backports InRelease' doesn't have the component 'universeS' (component misspelt in sources.list?)
liuhuan@liuhuan-G5-5587:~$ sudo apt install ros-noetic-desktop-full
Reading package lists... Done
Building dependency tree
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:
The following packages have unmet dependencies:
ros-noetic-desktop-full : Depends: ros-noetic-desktop but it is not going to be installed
Depends: ros-noetic-perception but it is not going to be installed
Depends: ros-noetic-simulators but it is not going to be installed
Depends: ros-noetic-urdf-sim-tutorial but it is not going to be installed
E: Unable to correct problems, you have held broken packages.
前边执行的好好的，突然就断了，在网上查了好多好多的教程，有的是说是镜像源的问题，有的说是把/etc/apt/sources.list文件夹里边的两个文件给删了，一个是list结尾，一个以save结尾，另外有的就是需要在list.d文件中加东西。
我是先把那个文件夹里边的两个文件给删了
sudo rm -rf /etc/apt/sources.list.d/ros-latest.list
sudo rm -rf /etc/apt/sources.list.d/ros-latest.list.save
然后镜像源也没有用中科大什么的，改成了最开始的那个样子,应该是Main什么的（我的linux用的英文），没有截图，这个地方就不放了。
另外是在Software&Update里边的第二个标题栏，里边的钩全部去掉
然后，打开list文件在里边添加东西，记住直接在下边添加，不要删除以前的那些。
getit nano /etc/apt/source.list
执行完上边这个指令就会弹出一个文件界面，直接在下边添加：
# See http://help.ubuntu.com/community/UpgradeNotes for how to upgrade to
# newer versions of the distribution.
deb http://cn.archive.ubuntu.com/ubuntu/ xenial main restricted
# deb-src http://cn.archive.ubuntu.com/ubuntu/ xenial main restricted
## Major bug fix updates produced after the final release of the
## distribution.
deb http://cn.archive.ubuntu.com/ubuntu/ xenial-updates main restricted
# deb-src http://cn.archive.ubuntu.com/ubuntu/ xenial-updates main restricted
## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu
## team. Also, please note that software in universe WILL NOT receive any
## review or updates from the Ubuntu security team.
deb http://cn.archive.ubuntu.com/ubuntu/ xenial universe
# deb-src http://cn.archive.ubuntu.com/ubuntu/ xenial universe
deb http://cn.archive.ubuntu.com/ubuntu/ xenial-updates universe
# deb-src http://cn.archive.ubuntu.com/ubuntu/ xenial-updates universe
## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu
## team, and may not be under a free licence. Please satisfy yourself as to
## your rights to use the software. Also, please note that software in
## multiverse WILL NOT receive any review or updates from the Ubuntu
## security team.
deb http://cn.archive.ubuntu.com/ubuntu/ xenial multiverse
# deb-src http://cn.archive.ubuntu.com/ubuntu/ xenial multiverse
deb http://cn.archive.ubuntu.com/ubuntu/ xenial-updates multiverse
# deb-src http://cn.archive.ubuntu.com/ubuntu/ xenial-updates multiverse
## N.B. software from this repository may not have been tested as
## extensively as that contained in the main release, although it includes
## newer versions of some applications which may provide useful features.
## Also, please note that software in backports WILL NOT receive any review
## or updates from the Ubuntu security team.
deb http://cn.archive.ubuntu.com/ubuntu/ xenial-backports main restricted universe multiverse
# deb-src http://cn.archive.ubuntu.com/ubuntu/ xenial-backports main restricted universe multiverse
## Uncomment the following two lines to add software from Canonical's
## 'partner' repository.
## This software is not part of Ubuntu, but is offered by Canonical and the
## respective vendors as a service to Ubuntu users.
# deb http://archive.canonical.com/ubuntu xenial partner
# deb-src http://archive.canonical.com/ubuntu xenial partner
deb http://security.ubuntu.com/ubuntu xenial-security main restricted
# deb-src http://security.ubuntu.com/ubuntu xenial-security main restricted
deb http://security.ubuntu.com/ubuntu xenial-security universe
# deb-src http://security.ubuntu.com/ubuntu xenial-security universe
deb http://security.ubuntu.com/ubuntu xenial-security multiverse
# deb-src http://security.ubuntu.com/ubuntu xenial-security multiverse
deb http://security.ubuntu.com/ubuntu/ focal-security universe multiverse main restricted
deb http://archive.ubuntu.com/ubuntu focal-updates universe multiverse main restricted
deb http://archive.ubuntu.com/ubuntu focal-backports universe multiverse main restricted
添加完记得点右上角的Save再关闭文件界面。
这个时候我是从本篇文章第四步重新从头开始执行，就是重新再弄一下安装源，执行完update命令行后，我的是这个界面：
liuhuan@liuhuan-G5-5587:~$ sudo apt update
Hit:1 http://mirrors.yun-idc.com/ubuntu focal InRelease
Ign:2 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal InRelease
Get:3 http://mirrors.ustc.edu.cn/ubuntu xenial InRelease [247 kB]
Get:4 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal Release [3,794 B]
Get:5 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal Release.gpg [819 B]
Get:6 http://mirrors.ustc.edu.cn/ubuntu xenial-security InRelease [109 kB]
Get:7 http://mirrors.ustc.edu.cn/ubuntu xenial-updates InRelease [109 kB]
Get:8 http://mirrors.ustc.edu.cn/ubuntu xenial-proposed InRelease [260 kB]
Get:9 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal/main i386 Packages [17.2 kB]
Get:10 http://mirrors.ustc.edu.cn/ubuntu xenial-backports InRelease [107 kB]
Get:11 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal/main amd64 Packages [348 kB]
Get:12 http://mirrors.ustc.edu.cn/ubuntu xenial/universe Sources [7,728 kB]
Get:13 http://mirrors.ustc.edu.cn/ubuntu xenial/restricted Sources [4,808 B]
Get:14 http://mirrors.ustc.edu.cn/ubuntu xenial/multiverse Sources [179 kB]
Get:15 http://mirrors.ustc.edu.cn/ubuntu xenial/main Sources [868 kB]
Get:16 http://mirrors.ustc.edu.cn/ubuntu xenial/main i386 Packages [1,196 kB]
Get:17 http://mirrors.ustc.edu.cn/ubuntu xenial/main amd64 Packages [1,201 kB]
Get:18 http://mirrors.ustc.edu.cn/ubuntu xenial/main Translation-en [568 kB]
Get:19 http://mirrors.ustc.edu.cn/ubuntu xenial/main amd64 DEP-11 Metadata [733 kB]
Get:20 http://mirrors.ustc.edu.cn/ubuntu xenial/main DEP-11 64x64 Icons [409 kB]
Get:21 http://mirrors.ustc.edu.cn/ubuntu xenial/restricted i386 Packages [8,684 B]
Get:22 http://mirrors.ustc.edu.cn/ubuntu xenial/restricted amd64 Packages [8,344 B]
Get:23 http://mirrors.ustc.edu.cn/ubuntu xenial/restricted Translation-en [2,908 B]
Get:24 http://mirrors.ustc.edu.cn/ubuntu xenial/restricted amd64 DEP-11 Metadata [186 B]
Get:25 http://mirrors.ustc.edu.cn/ubuntu xenial/universe amd64 Packages [7,532 kB]
Get:26 http://mirrors.ustc.edu.cn/ubuntu xenial/universe i386 Packages [7,512 kB]
Get:27 http://mirrors.ustc.edu.cn/ubuntu xenial/universe Translation-en [4,354 kB]
Get:28 http://mirrors.ustc.edu.cn/ubuntu xenial/universe amd64 DEP-11 Metadata [3,410 kB]
Get:29 http://mirrors.ustc.edu.cn/ubuntu xenial/universe DEP-11 64x64 Icons [7,448 kB]
Get:30 http://mirrors.ustc.edu.cn/ubuntu xenial/multiverse amd64 Packages [144 kB]
Get:31 http://mirrors.ustc.edu.cn/ubuntu xenial/multiverse i386 Packages [140 kB]
Get:32 http://mirrors.ustc.edu.cn/ubuntu xenial/multiverse Translation-en [106 kB]
Get:33 http://mirrors.ustc.edu.cn/ubuntu xenial/multiverse amd64 DEP-11 Metadata [63.8 kB]
Get:34 http://mirrors.ustc.edu.cn/ubuntu xenial/multiverse DEP-11 64x64 Icons [230 kB]
Get:35 http://mirrors.ustc.edu.cn/ubuntu xenial-security/multiverse Sources [4,632 B]
Get:36 http://mirrors.ustc.edu.cn/ubuntu xenial-security/universe Sources [199 kB]
Get:37 http://mirrors.ustc.edu.cn/ubuntu xenial-security/restricted Sources [2,976 B]
Get:38 http://mirrors.ustc.edu.cn/ubuntu xenial-security/main Sources [241 kB]
Get:39 http://mirrors.ustc.edu.cn/ubuntu xenial-security/main amd64 Packages [1,476 kB]
Get:40 http://mirrors.ustc.edu.cn/ubuntu xenial-security/main i386 Packages [1,075 kB]
Get:41 http://mirrors.ustc.edu.cn/ubuntu xenial-security/main Translation-en [350 kB]
Get:42 http://mirrors.ustc.edu.cn/ubuntu xenial-security/main amd64 DEP-11 Metadata [93.0 kB]
Get:43 http://mirrors.ustc.edu.cn/ubuntu xenial-security/main DEP-11 48x48 Icons [24.7 kB]
Get:44 http://mirrors.ustc.edu.cn/ubuntu xenial-security/main DEP-11 64x64 Icons [108 kB]
Get:45 http://mirrors.ustc.edu.cn/ubuntu xenial-security/main DEP-11 64x64@2 Icons [29 B]
Get:46 http://mirrors.ustc.edu.cn/ubuntu xenial-security/restricted i386 Packages [9,800 B]
Get:47 http://mirrors.ustc.edu.cn/ubuntu xenial-security/restricted amd64 Packages [9,824 B]
Get:48 http://mirrors.ustc.edu.cn/ubuntu xenial-security/restricted Translation-en [2,152 B]
Get:49 http://mirrors.ustc.edu.cn/ubuntu xenial-security/restricted amd64 DEP-11 Metadata [200 B]
Get:50 http://mirrors.ustc.edu.cn/ubuntu xenial-security/universe amd64 Packages [773 kB]
Get:51 http://mirrors.ustc.edu.cn/ubuntu xenial-security/universe i386 Packages [653 kB]
Get:52 http://mirrors.ustc.edu.cn/ubuntu xenial-security/universe Translation-en [218 kB]
Get:53 http://mirrors.ustc.edu.cn/ubuntu xenial-security/universe amd64 DEP-11 Metadata [130 kB]
Get:54 http://mirrors.ustc.edu.cn/ubuntu xenial-security/universe DEP-11 48x48 Icons [9,163 B]
Get:55 http://mirrors.ustc.edu.cn/ubuntu xenial-security/universe DEP-11 64x64 Icons [206 kB]
Get:56 http://mirrors.ustc.edu.cn/ubuntu xenial-security/universe DEP-11 64x64@2 Icons [29 B]
Get:57 http://mirrors.ustc.edu.cn/ubuntu xenial-security/multiverse i386 Packages [8,492 B]
Get:58 http://mirrors.ustc.edu.cn/ubuntu xenial-security/multiverse amd64 Packages [8,236 B]
Get:59 http://mirrors.ustc.edu.cn/ubuntu xenial-security/multiverse Translation-en [2,888 B]
Get:60 http://mirrors.ustc.edu.cn/ubuntu xenial-security/multiverse amd64 DEP-11 Metadata [2,464 B]
Get:61 http://mirrors.ustc.edu.cn/ubuntu xenial-security/multiverse DEP-11 48x48 Icons [29 B]
Get:62 http://mirrors.ustc.edu.cn/ubuntu xenial-security/multiverse DEP-11 64x64 Icons [2,638 B]
Get:63 http://mirrors.ustc.edu.cn/ubuntu xenial-security/multiverse DEP-11 64x64@2 Icons [29 B]
Get:64 http://mirrors.ustc.edu.cn/ubuntu xenial-updates/multiverse Sources [12.2 kB]
Get:65 http://mirrors.ustc.edu.cn/ubuntu xenial-updates/restricted Sources [3,608 B]
Get:66 http://mirrors.ustc.edu.cn/ubuntu xenial-updates/main Sources [529 kB]
Get:67 http://mirrors.ustc.edu.cn/ubuntu xenial-updates/universe Sources [431 kB]
Get:68 http://mirrors.ustc.edu.cn/ubuntu xenial-updates/main i386 Packages [1,444 kB]
Get:69 http://mirrors.ustc.edu.cn/ubuntu xenial-updates/main amd64 Packages [1,880 kB]
Get:70 http://mirrors.ustc.edu.cn/ubuntu xenial-updates/main Translation-en [454 kB]
Get:71 http://mirrors.ustc.edu.cn/ubuntu xenial-updates/main amd64 DEP-11 Metadata [326 kB]
Get:72 http://mirrors.ustc.edu.cn/ubuntu xenial-updates/main DEP-11 48x48 Icons [24.7 kB]
Get:73 http://mirrors.ustc.edu.cn/ubuntu xenial-updates/main DEP-11 64x64 Icons [249 kB]
Get:74 http://mirrors.ustc.edu.cn/ubuntu xenial-updates/main DEP-11 64x64@2 Icons [29 B]
Get:75 http://mirrors.ustc.edu.cn/ubuntu xenial-updates/restricted i386 Packages [10.2 kB]
Get:76 http://mirrors.ustc.edu.cn/ubuntu xenial-updates/restricted amd64 Packages [10.2 kB]
Get:77 http://mirrors.ustc.edu.cn/ubuntu xenial-updates/restricted Translation-en [2,272 B]
Get:78 http://mirrors.ustc.edu.cn/ubuntu xenial-updates/restricted amd64 DEP-11 Metadata [157 B]
Get:79 http://mirrors.ustc.edu.cn/ubuntu xenial-updates/universe i386 Packages [1,064 kB]
Get:80 http://mirrors.ustc.edu.cn/ubuntu xenial-updates/universe amd64 Packages [1,195 kB]
Get:81 http://mirrors.ustc.edu.cn/ubuntu xenial-updates/universe Translation-en [348 kB]
Get:82 http://mirrors.ustc.edu.cn/ubuntu xenial-updates/universe amd64 DEP-11 Metadata [281 kB]
Get:83 http://mirrors.ustc.edu.cn/ubuntu xenial-updates/universe DEP-11 48x48 Icons [35.3 kB]
Get:84 http://mirrors.ustc.edu.cn/ubuntu xenial-updates/universe DEP-11 64x64 Icons [437 kB]
Get:85 http://mirrors.ustc.edu.cn/ubuntu xenial-updates/universe DEP-11 64x64@2 Icons [29 B]
Get:86 http://mirrors.ustc.edu.cn/ubuntu xenial-updates/multiverse amd64 Packages [23.0 kB]
Get:87 http://mirrors.ustc.edu.cn/ubuntu xenial-updates/multiverse i386 Packages [21.8 kB]
Get:88 http://mirrors.ustc.edu.cn/ubuntu xenial-updates/multiverse Translation-en [8,632 B]
Get:89 http://mirrors.ustc.edu.cn/ubuntu xenial-updates/multiverse amd64 DEP-11 Metadata [5,960 B]
Get:90 http://mirrors.ustc.edu.cn/ubuntu xenial-updates/multiverse DEP-11 48x48 Icons [29 B]
Get:91 http://mirrors.ustc.edu.cn/ubuntu xenial-updates/multiverse DEP-11 64x64 Icons [14.3 kB]
Get:92 http://mirrors.ustc.edu.cn/ubuntu xenial-updates/multiverse DEP-11 64x64@2 Icons [29 B]
Get:93 http://mirrors.ustc.edu.cn/ubuntu xenial-proposed/main Sources [9,752 B]
Get:94 http://mirrors.ustc.edu.cn/ubuntu xenial-proposed/universe Sources [4,120 B]
Get:95 http://mirrors.ustc.edu.cn/ubuntu xenial-proposed/main i386 Packages [55.7 kB]
Get:96 http://mirrors.ustc.edu.cn/ubuntu xenial-proposed/main amd64 Packages [80.8 kB]
Get:97 http://mirrors.ustc.edu.cn/ubuntu xenial-proposed/main Translation-en [22.3 kB]
Get:98 http://mirrors.ustc.edu.cn/ubuntu xenial-proposed/main amd64 DEP-11 Metadata [208 B]
Get:99 http://mirrors.ustc.edu.cn/ubuntu xenial-proposed/main DEP-11 48x48 Icons [29 B]
Get:100 http://mirrors.ustc.edu.cn/ubuntu xenial-proposed/main DEP-11 64x64 Icons [29 B]
Get:101 http://mirrors.ustc.edu.cn/ubuntu xenial-proposed/main DEP-11 64x64@2 Icons [29 B]
Get:102 http://mirrors.ustc.edu.cn/ubuntu xenial-proposed/restricted amd64 DEP-11 Metadata [201 B]
Get:103 http://mirrors.ustc.edu.cn/ubuntu xenial-proposed/universe i386 Packages [11.8 kB]
Get:104 http://mirrors.ustc.edu.cn/ubuntu xenial-proposed/universe amd64 Packages [15.9 kB]
Get:105 http://mirrors.ustc.edu.cn/ubuntu xenial-proposed/universe Translation-en [9,072 B]
Get:106 http://mirrors.ustc.edu.cn/ubuntu xenial-proposed/universe amd64 DEP-11 Metadata [212 B]
Get:107 http://mirrors.ustc.edu.cn/ubuntu xenial-proposed/universe DEP-11 48x48 Icons [29 B]
Get:108 http://mirrors.ustc.edu.cn/ubuntu xenial-proposed/universe DEP-11 64x64 Icons [29 B]
Get:109 http://mirrors.ustc.edu.cn/ubuntu xenial-proposed/universe DEP-11 64x64@2 Icons [29 B]
Get:110 http://mirrors.ustc.edu.cn/ubuntu xenial-proposed/multiverse amd64 DEP-11 Metadata [2,468 B]
Get:111 http://mirrors.ustc.edu.cn/ubuntu xenial-proposed/multiverse DEP-11 48x48 Icons [29 B]
Get:112 http://mirrors.ustc.edu.cn/ubuntu xenial-proposed/multiverse DEP-11 64x64 Icons [2,638 B]
Get:113 http://mirrors.ustc.edu.cn/ubuntu xenial-proposed/multiverse DEP-11 64x64@2 Icons [29 B]
Get:114 http://mirrors.ustc.edu.cn/ubuntu xenial-backports/universe Sources [11.0 kB]
Get:115 http://mirrors.ustc.edu.cn/ubuntu xenial-backports/main Sources [6,720 B]
Get:116 http://mirrors.ustc.edu.cn/ubuntu xenial-backports/main i386 Packages [9,784 B]
Get:117 http://mirrors.ustc.edu.cn/ubuntu xenial-backports/main amd64 Packages [9,812 B]
Get:118 http://mirrors.ustc.edu.cn/ubuntu xenial-backports/main Translation-en [4,456 B]
Get:119 http://mirrors.ustc.edu.cn/ubuntu xenial-backports/main amd64 DEP-11 Metadata [3,328 B]
Get:120 http://mirrors.ustc.edu.cn/ubuntu xenial-backports/main DEP-11 48x48 Icons [29 B]
Get:121 http://mirrors.ustc.edu.cn/ubuntu xenial-backports/main DEP-11 64x64 Icons [29 B]
Get:122 http://mirrors.ustc.edu.cn/ubuntu xenial-backports/main DEP-11 64x64@2 Icons [29 B]
Get:123 http://mirrors.ustc.edu.cn/ubuntu xenial-backports/restricted amd64 DEP-11 Metadata [194 B]
Get:124 http://mirrors.ustc.edu.cn/ubuntu xenial-backports/universe i386 Packages [10.9 kB]
Get:125 http://mirrors.ustc.edu.cn/ubuntu xenial-backports/universe amd64 Packages [11.3 kB]
Get:126 http://mirrors.ustc.edu.cn/ubuntu xenial-backports/universe Translation-en [4,476 B]
Get:127 http://mirrors.ustc.edu.cn/ubuntu xenial-backports/universe amd64 DEP-11 Metadata [6,612 B]
Get:128 http://mirrors.ustc.edu.cn/ubuntu xenial-backports/universe DEP-11 48x48 Icons [2,809 B]
Get:129 http://mirrors.ustc.edu.cn/ubuntu xenial-backports/universe DEP-11 64x64 Icons [5,608 B]
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Reading package lists... Done
Building dependency tree
Reading state information... Done
All packages are up to date.
7.开始安装ROS
sudo apt install ros-noetic-desktop-full
但是他又出现错误了，说我有一些包没装。
liuhuan@liuhuan-G5-5587:~$ sudo apt install ros-noetic-desktop-full
Reading package lists... Done
Building dependency tree
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:
The following packages have unmet dependencies:
ros-noetic-desktop-full : Depends: ros-noetic-desktop but it is not going to be installed
Depends: ros-noetic-perception but it is not going to be installed
Depends: ros-noetic-simulators but it is not going to be installed
Depends: ros-noetic-urdf-sim-tutorial but it is not going to be installed
E: Unable to correct problems, you have held broken packages.
我本来想把他们一个一个的装，结果根本不行，还是出现一堆错误。
网上搜了一大堆，最终确定下边这个方法有效，下边这个选择所有更新
选择完这个后，我又重新从第四步的开头做了一遍，然后再次执行安装所有库，这次终于正常了，可以下载了，大家可以把忘调成自己手机的热点，应该会快一点。
我第一次下载竟然中间断了一次，然后再次执行sudo apt install ros-noetic-desktop-full指令才成功，安装的比较慢，应该有两个小时左右。
8.配置环境变量
echo "source /opt/ros/neotic/setup.bash" >> ~/.bashrc
source ~/.bashrc
8.安装rosinstall
整个过程大概就是这个样子了，版本不一样，或者因为其他原因，可能按照上边这个流程或许在你的电脑上安装不了，但是我是真的靠这种方法安装好的，安装不上还希望耐心百度，总有解决办法的。
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential
如果出现了这样的错误，请观看另外一篇博客的第三个错误（安装ROS系统中配置问题以及相关的错误）
9.验证是否安装成功
打开一个终端，输入：
roscore
然后再新建一个终端，输入：
rosrun turtlesim turtlesim_node
此时就会弹出一个界面来了，然后再创建一个新的终端，输入：
rosrun turtlesim turtle_teleop_key
此时就可以用键盘来控制小乌龟的移动了
整个过程大概就是这个样子了，版本不一样，或者因为其他原因，可能按照上边这个流程或许在你的电脑上安装不了，但是我是真的靠这种方法安装好的，安装不上还希望耐心百度，总有解决办法的。