0 前言

近期在 Ubuntu 18.04 下安装 ROS 1 Melodic 的过程中遇到 rosdep init 和 rosdep update 报错的问题，手动解决不免繁琐，而且 rosdistro 库会时常更新，如果 rosdep update 时使用了旧版的 YAML 文件，有可能导致后期安装其它 ROS 组件时出现问题，为此开发了完全一键安装开源工具 rostaller。

1 手动安装

1.1 配置 Ubuntu 软件仓库

确保 restricted、universe 和 multiverse 被勾选，选择国内更稳定的镜像源，例如清华源：https://mirrors.tuna.tsinghua.edu.cn/ubuntu/

1.2 添加 ros 源

1	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'

1.3 设置密钥

1 2	sudo apt install curl curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' \| sudo apt-key add -

1.4 安装 ROS

这里以 ROS Melodic 桌面完全版为例：

1 2	sudo apt update sudo apt install ros-melodic-desktop-full

1.5 配置环境

1 2	echo "source /opt/ros/melodic/setup.bash" >>~/.bashrc source ~/.bashrc

1.6 安装构建包所需依赖

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

1.7 初始化 rosdep

1	sudo rosdep init

由于域名污染，这一步往往会报下面的错误：

1
2
3

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.

为解决该问题，首先，克隆 rosdistro 仓库：

1	git clone https://github.com/ros/rosdistro.git

然后，本地新建对应目录：

1	sudo mkdir -p /etc/ros/rosdep/sources.list.d

最后，将克隆下来的 rosdistro 仓库中的 list 文件拷贝到上述目录：

1 2	cd rosdistro sudo cp rosdep/sources.list.d/20-default.list /etc/ros/rosdep/sources.list.d/

1.8 更新本地 rosdep 数据库

1	rosdep update

同样是由于域名污染，这一步往往会报下面的错误：

reading in sources list data from /etc/ros/rosdep/sources.list.d
ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml]:
	<urlopen error [Errno 111] Connection refused> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml)
ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml]:
	<urlopen error [Errno 111] Connection refused> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml)
ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml]:
	<urlopen error [Errno 111] Connection refused> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml)
ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml]:
	<urlopen error [Errno 111] Connection refused> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml)
ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml]:
	Failed to download target platform data for gbpdistro:
	<urlopen error [Errno 111] Connection refused>
Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml
ERROR: error loading sources list:
	<urlopen error <urlopen error [Errno 111] Connection refused> (https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml)>

假设已经解决上面步骤中 rosdep init 遇到的问题，现在需要编辑以下四个文件（做好备份）：

/etc/ros/rosdep/sources.list.d/20-default.list
/usr/lib/python2.7/dist-packages/rosdep2/gbpdistro_support.py
/usr/lib/python2.7/dist-packages/rosdep2/rep3.py
/usr/lib/python2.7/dist-packages/rosdistro/__init__.py

搜索文件中的 https://raw.githubusercontent.com/ros/rosdistro/master 字段，将其替换为本地 rosdistro 仓库的绝对地址，例如本示例中为 file:///home/shipeng/Desktop/rosdistro。编辑后的 list 文件如下所示：

# os-specific listings first
yaml file:///home/shipeng/Desktop/rosdistro/rosdep/osx-homebrew.yaml osx

# generic
yaml file:///home/shipeng/Desktop/rosdistro/rosdep/base.yaml
yaml file:///home/shipeng/Desktop/rosdistro/rosdep/python.yaml
yaml file:///home/shipeng/Desktop/rosdistro/rosdep/ruby.yaml
gbpdistro file:///home/shipeng/Desktop/rosdistro/releases/fuerte.yaml fuerte

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

然后重新执行 rosdep update 命令即可：

reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit file:///home/shipeng/Desktop/rosdistro/rosdep/osx-homebrew.yaml
Hit file:///home/shipeng/Desktop/rosdistro/rosdep/base.yaml
Hit file:///home/shipeng/Desktop/rosdistro/rosdep/python.yaml
Hit file:///home/shipeng/Desktop/rosdistro/rosdep/ruby.yaml
Hit file:///home/shipeng/Desktop/rosdistro/releases/fuerte.yaml
Query rosdistro index file:///home/shipeng/Desktop/rosdistro/index-v4.yaml
Skip end-of-life distro "ardent"
Skip end-of-life distro "bouncy"
Skip end-of-life distro "crystal"
Skip end-of-life distro "dashing"
Skip end-of-life distro "eloquent"
Add distro "foxy"
Add distro "galactic"
Skip end-of-life distro "groovy"
Skip end-of-life distro "hydro"
Skip end-of-life distro "indigo"
Skip end-of-life distro "jade"
Skip end-of-life distro "kinetic"
Skip end-of-life distro "lunar"
Add distro "melodic"
Add distro "noetic"
Add distro "rolling"
updated cache in /home/shipeng/.ros/rosdep/sources.cache

1.8 运行小海龟示例

打开终端，执行：

roscore

另开新的终端，执行：

1	rosrun turtlesim turtlesim_node

弹出小海龟界面：

另开新的终端，执行：

1	rosrun turtle_teleop_key

保持该终端中的光标处于激活状态，通过方向键即可控制小海龟的移动。

2 自动化安装——使用 rostaller

上述手动安装的步骤中，处理 rosdep init 和 rosdep update 报错问题的方法操作起来不免繁琐，而且 rosdistro 库会时常更新，如果 rosdep update 时使用了旧版的 YAML 文件，有可能导致后期安装其它 ROS 组件时出现问题，为此开发了 Ubuntu 18.04 下 ROS 1 Melodic 完全一键安装的开源工具 rostaller，再也不用纠结 rosdep init 和 rosdep update 报错的问题，工具执行时会尝试在线更新 YAML 文件，后面可能会增加对 ROS 1 其它版本及 ROS 2 的支持。欢迎使用 + star，欢迎提 issue，欢迎 folk + pull request。工具使用方法：

克隆仓库：

1	git clone https://github.com/RocShi/rostaller.git

进入本地仓库目录，为脚本添加可执行权限（仅首次执行需要）：
1
chmod +x run.sh
运行脚本，一键安装：
1
./run.sh

Enjoy!

参考

在 Ubuntu 中安装 ROS Melodic
Ubuntu install of ROS Melodic
rosdep init/update 解决方法
ROS rosdep init/update 报错终极解决方法

输出倒逼思考

ROS 1 安装——从手动到自动：以 Ubuntu 18.04 + ROS Melodic 为例