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(117)
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