【关于ROS安装】
由于日益复杂的国际形势,按照wiki官网的ROS安装流程变得相当困难,这里我推荐使用鱼香ROS大佬写的脚本一键傻瓜式安装:
wget http://fishros.com/install -O fishros && . fishros
【关于rosdep失败】
这已经是一个老掉牙的问题了,主要还是因为网络原因导致,这里推荐一个修改软件源的方法来解决。
更换国内镜像源:修改国外镜像源 raw.githubusercontent.com 为国内镜像源 gitee.com
1、直接修改源码文件
(1)第一步
sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py
原文件内容:
DEFAULT_SOURCES_LIST_URL = 'https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list'
更改为:
DEFAULT_SOURCES_LIST_URL='https://gitee.com/ssonic/rosdistro/raw/master/rosdep/sources.list.d/20-default.list'
(2)第二步
sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/gbpdistro_support.py
原文件内容:
FUERTE_GBPDISTRO_URL = 'https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml'
更改为:
FUERTE_GBPDISTRO_URL = 'https://gitee.com/ssonic/rosdistro/raw/master/releases/fuerte.yaml'
(3)第三步
sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/rep3.py
源文件内容:
REP3_TARGETS_URL = 'https://raw.githubusercontent.com/ros/rosdistro/master/releases/targets.yaml'
更改为:
REP3_TARGETS_URL = 'https://gitee.com/ssonic/rosdistro/raw/master/releases/targets.yaml'
(4)第四步
sudo gedit /usr/lib/python2.7/dist-packages/rosdistro/__init__.py
原文件内容:
DEFAULT_INDEX_URL = 'https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml'
更改为:
DEFAULT_INDEX_URL = 'https://gitee.com/ssonic/rosdistro/raw/master/index-v4.yaml'
2、改完之后,再次执行命令
sudo rosdep init
注意:若出现错误,先删除20-default.list 文件
sudo rm /etc/ros/rosdep/sources.list.d/20-default.list
3、最后执行 rosdep update 即可
【关于Gazebo的相关问题】
(1)无法仿真GPU版本的激光雷达? ---- > 升级Gazebo到9.4.0版本
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/gazebo-stable.list'
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys D2486D2DD83DB69272AFE98867170598AF249743
sudo apt update
sudo apt upgrade
(2)[Err] [REST.cc:205] Error in REST request during startup gazebo
gedit ~/.ignition/fuel/config.yaml
修改这一句:
url: https://api.ignitionfuel.org
为
url: https://api.ignitionrobotics.org