1-9 是手动安装步骤

10 是一键安装，选什么不用我说了吧😍

1.配置Ubuntu软件库

将上述选项勾选，并将下载源改为阿里云

2.设置sources.list

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'

使用中科大的ros软件源 （官网给定的速度太慢）

3.设置密钥

sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

中间的hkp://keyserver.ubuntu.com:80可以替换为hkp://ha.pool.sks-keyservers.net:80或 hkp://pgp.mit.edu:80

4.更新软件列表

sudo apt-get update

这一步可能会出现秘钥设置的问题，按照给出的秘钥重新设置即可

5.安装

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

这个为桌面完整版，还有一些小型非完整版本可自行查阅

6.初始化rosdep

指令一

sudo rosdep init

上述命令可能会报错，是因为网站需要VPN，如果是虚拟机的话可以直接手动写入该文件

ERROR: cannot download default sources list from:
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
Website may be down.

手动写入

sudo mkdir -p /etc/ros/rosdep/sources.list.d 
cd /etc/ros/rosdep/sources.list.d
sudo gedit 20-default.list

# os-specific listings first
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx

# generic
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
gbpdistro https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml fuerte

# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead

指令二

rosdep update

上述命令可能会报错，包括超时、拒绝连接等等，我们可以直接修改下载源文件

ERROR: error loading sources list:
<urlopen error (https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml)>

借鉴自csdn的博客 直接查看此博客即可，除了第一步的文件内容稍有变动，但改动依然相同，此外均照做即可

7.添加ros环境变量

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

8.安装rosinstall

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

9.跑通小海龟

分为三个终端，依次输入命令并运行

roscore

rosrun turtlesim turtlesim_node

rosrun turtlesim turtle_teleop_key

如果出现找不到指令等错误，例如bash: rosrun: command not found，输入如下指令

sudo apt-get install rosbash

再次运行出现报错/usr/bin/rosrun: line 56: rospack: command not found，再次生效一次环境变量即可

source ~/.bashrc

10.不如直接鱼香ROS

鱼香ROS一键安装

简单粗暴！我现在都这样安装