Ubuntu After installation , Can be installed ROS The operating system , The general steps are as follows :

1. To configure ubuntu Software and updates for ;
2. Set installation source ;
3. Set up key;
4. install ;
5. Configure environment variables .

1 To configure ubuntu Software and updates for

To configure ubuntu Software and updates for , Allow installation of non certified software .
Start by opening “ Software and updates ” Dialog box , The details can be found in Ubuntu Search... In the search button .
After opening, configure according to the following figure （ Make sure that... Is checked "restricted", “universe,” and “multiverse.”）

2 Set installation source

Official default installation source :

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

Or the installation source from Tsinghua University in China

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'

PS:

1. After returning , You may need to enter the administrator password
2. It is recommended to use domestic resources , Faster installation .

3 Set up key

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

4 install

First, it needs to be updated apt( It used to be apt-get, Official recommended use apt Instead of apt-get),apt It is used to search from Internet warehouse 、 install 、 upgrade 、 Tools for uninstalling software or operating system .

sudo apt update

wait for …
then , Then install the required type of ROS:ROS Multiple types :Desktop-Full、Desktop、ROS-Base. Here are some commonly used Desktop-Full( The official recommendation ) install : ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception.

sudo apt install ros-noetic-desktop-full

wait for …( More time-consuming )
Friendship tips : Because of the Internet , Cause connection timeout , Installation may fail , As shown below :

Can be called multiple times to update and Installation command , Until success .

5 Configure environment variables

Configure environment variables , Convenient at any time Used in terminal ROS.

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

6 uninstall

sudo apt remove ros-noetic-*

Be careful : stay ROS edition noetic There is no need to build package dependencies in , No, rosdep Related installation and configuration of .

7 Installation build depends on

stay noetic When originally released , Slightly different from other historical versions : No installation build depends on this step . With noetic Continuously improve , The official complemented this operation .

1. First, install the relevant tools that the build depends on

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

2. initialization rosdep

sudo rosdep init
rosdep update

If all goes well ,rosdep The print results of initialization and update are as follows :

however , stay rosdep On initialization , Most of them throw exceptions .
reason :
Overseas resources are blocked .
solve :
Baidu or google Search for , There are many solutions (https://github.com/ros/rosdistro/issues/9721), It's a pity that ubuntu20.04 Next , Collective failure .
New ideas : Back up relevant resources to gitee, modify rosdep Source code , Relocate resources .
Realization :
1. First open the resource backup path :https://gitee.com/zhao-xuzuo/rosdistro, open rosdistro/rosdep/sources.list.d/20-default.list Keep the file for standby ( Mainly reuse URL Part of :gitee.com/zhao-xuzuo/rosdistro/raw/master).

2. Get into "/usr/lib/python3/dist-packages/" lookup rosdep neutralization raw.githubusercontent.com Related content , Call the command :

find . -type f | xargs grep "raw.githubusercontent"

3. Modify related documents , There are mainly : ./rosdistro/init.py、./rosdep2/gbpdistro_support.py、./rosdep2/sources_list.py 、./rosdep2/rep3.py. have access to sudo gedit Command to modify the file :
In the document URL Content , If it is :raw.githubusercontent.com/ros/rosdistro/master Replace with steps 1 Prepared in gitee.com/zhao-xuzuo/rosdistro/raw/master that will do .
The modification is complete , Execute the command again :

sudo rosdep init
rosdep update

It can be realized normally rosdep Initialization and update of .