ros ubuntu install and change the source and apply 16.04 18.04

ROS installation

In the mounting portion need to distinguish the source version, there is provided a mounting two versions 16.04 and 18.04.

ubuntu 16.04

This is ubuntu16.04 version of ros installation tutorial, does not apply to other versions.

 
sudo vim /etc/apt/sources.list  #修改镜像文件

# 这里的内容是针对ubuntu16.04，其他版本不适用
#将这里的所有信息直接复制粘贴即可，先删除原文件中的所有内容
# 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/ xenial main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
# 预发布软件源，不建议启用

# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse

# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse

# 默认注释了源码仓库，如有需要可自行取消注释

deb https://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse

# deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse

deb https://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse

# deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse

deb https://mirrors.ustc.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse

# deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse

deb https://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse

# deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse

# 预发布软件源，不建议启用

# deb https://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse

# deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'    

sudo sh -c '. /etc/lsb-release && echo "deb https://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" >> /etc/apt/sources.list.d/ros-latest.list'  

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

sudo apt-get update && sudo apt upgrade    

sudo apt-get install ros-kinetic-desktop-full    

Ubuntu 18.04

# 这里的是18.04的镜像需要根据不同版本进行选择
  # 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/ bionic main restricted universe multiverse
  # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse
  deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
  # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
  deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
  # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
  deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
  # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
  # 预发布软件源，不建议启用
  # deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse
  # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse

sudo sh -c 'echo "deb https://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

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

sudo apt update

sudo apt install ros-melodic-desktop-full

Initialize rosdep

In this step of the update command may fail due to network reasons many times, you can repeat the command until it succeeds.

sudo rosdep init    
rosdep update

Environment setup

Changed terminals should correspond to the following contents changes. I do not know what these words are ignored terminal change.

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

I changed the terminal to zsh, so the command is modified as follows

echo "source /opt/ros/kinetic/setup.zsh" >> ~/.zshrc
source ~/.zshrc

Dependencies for building packages

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

Start ROS

roscore

Start to success. Finally, use Ctrl + c to exit the ROS system.