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1、更换Ubuntu国内源
cd /etc/apt/
备份sources.list
打开文件sources.list
vim sources.list

将其中内容全部替换为以下内容(本次使用阿里源,之前使用清华源apt update报错过):
deb http://mirrors.aliyun.com/ubuntu/ xenial main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ xenial-proposed main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ xenial main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-proposed main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse

保存退出

apt update
下载更新成功!(上次使用清华源到这一步更新失败)

2、替换ROS国内源
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'

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

再次更新apt
apt update

3、安装ROS
sudo apt-get install ros-kinetic-desktop-full
安装成功!

设置环境变量
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

4、初始化rosdep
rosdep init
失败!
报错信息如下:
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.


cd /etc
sudo mkdir ros
cd ros
sudo mkdir rosdep
cd rosdep
sudo mkdir source.list.d
cd source.list.d
sudo touch 20-default.list

vim 20-default.list
粘贴如下内容:
#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

保存退出
rosdep update
更新成功!

O了!
以前在Ubuntu18下面安装ROS很顺利啊,怎么在Ubuntu16下面安装就这么费劲呢,沃尼玛!

posted on 2022-02-21 02:03 小王 阅读(90) 评论(0)  编辑 收藏 引用 所属分类: ROS

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