[ROS Tutorial] The whole process of installing ROS and possible problems encountered

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1.Configure Software & Updates

• Just configure it as shown in the picture

2. Add software source

• If you do not add the software source, you cannot locate the software package.

Tsinghuayuan

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'

3.Set key

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

• If you do not set the key, you will have the following problems when sudo apt update

4. Update and install

4.1 Update

sudo apt update

4.2 Installation (ros-noetic-desktop-full)

• If you use apt to install, almost 100% of the time the following problems will occur

• So we use aptitude to install

4.2.1 Install aptitude

sudo apt install aptitude

4.2.2 Install ROS software package

sudo aptitude install ros-noetic-desktop-full

• Next, a column of uninstalled items will be listed, as shown below.

• Remember, you must choose no at this time
• Then, aptitude will give the second solution. There are still many uninstalled ones. Continue to select no.

• For the third time, aptitude gave a satisfactory solution, but only one was not installed. At this time, you can choose yes.

5. Add environment variables

echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

6. Install build dependencies

sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential

7.Initialization and update

7.1 Initialization

sudo rosdep init

• Since overseas resources are blocked, initialization will almost 100% fail.

7.1.1 Currently feasible solution: Relocate resources

1. Modify line 68 of /usr/lib/python3/dist-packages/rosdistro/__init__.py
2. Modify line 64 of /usr/lib/python3/dist-packages/rosdep2/sources_list.py
3. Modify line 36 of /usr/lib/python3/dist-packages/rosdep2/rep3

• Modification method: raw.githubusercontent.com/ros/rosdistro/masterReplace with gitee.com/zhao-xuzuo/rosdistro/raw/master, as shown below

7.1.2 Results

sudo rosdep init

• It is successful if the following result occurs

7.2 Update

rosdep update

• result