ubuntu-18.04一键安装ros

之前安装ros的过程中需要翻墙，最近我们盖饭的神（鱼香ros）大佬又更新了一键安装ros的工具，我就迫不及待的先来测试一下，首先我的ubuntu-18.04的源已经切换过了，都是国内的源，还是给大家贴一下吧

1. # deb cdrom:[Ubuntu 18.04.2 LTS _Bionic Beaver_ - Release amd64 (20190210)]/ bionic main restricted
2. deb-src http://mirrors.aliyun.com/ubuntu/ bionic main restricted #Added by software-properties
4. # See http://help.ubuntu.com/community/UpgradeNotes for how to upgrade to
5. # newer versions of the distribution.
6. deb http://mirrors.aliyun.com/ubuntu/ bionic main restricted
7. deb-src http://mirrors.aliyun.com/ubuntu/ bionic universe multiverse #Added by software-properties
8. # deb-src http://cn.archive.ubuntu.com/ubuntu/ bionic main restricted
10. ## Major bug fix updates produced after the final release of the
11. ## distribution.
12. deb http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted
13. deb-src http://mirrors.aliyun.com/ubuntu/ bionic-updates main universe restricted multiverse #Added by software-properties
14. # deb-src http://cn.archive.ubuntu.com/ubuntu/ bionic-updates main restricted
16. ## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu
17. ## team. Also, please note that software in universe WILL NOT receive any
18. ## review or updates from the Ubuntu security team.
19. deb http://mirrors.aliyun.com/ubuntu/ bionic universe
20. # deb-src http://cn.archive.ubuntu.com/ubuntu/ bionic universe
21. deb http://mirrors.aliyun.com/ubuntu/ bionic-updates universe
22. # deb-src http://cn.archive.ubuntu.com/ubuntu/ bionic-updates universe
24. ## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu
25. ## team, and may not be under a free licence. Please satisfy yourself as to
26. ## your rights to use the software. Also, please note that software in
27. ## multiverse WILL NOT receive any review or updates from the Ubuntu
28. ## security team.
29. deb http://mirrors.aliyun.com/ubuntu/ bionic multiverse
30. # deb-src http://cn.archive.ubuntu.com/ubuntu/ bionic multiverse
31. deb http://mirrors.aliyun.com/ubuntu/ bionic-updates multiverse
32. # deb-src http://cn.archive.ubuntu.com/ubuntu/ bionic-updates multiverse
34. ## N.B. software from this repository may not have been tested as
35. ## extensively as that contained in the main release, although it includes
36. ## newer versions of some applications which may provide useful features.
37. ## Also, please note that software in backports WILL NOT receive any review
38. ## or updates from the Ubuntu security team.
39. deb http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse
40. deb-src http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse #Added by software-properties
41. # deb-src http://cn.archive.ubuntu.com/ubuntu/ bionic-backports main restricted universe multiverse
43. ## Uncomment the following two lines to add software from Canonical's
44. ## 'partner' repository.
45. ## This software is not part of Ubuntu, but is offered by Canonical and the
46. ## respective vendors as a service to Ubuntu users.
47. # deb http://archive.canonical.com/ubuntu bionic partner
48. # deb-src http://archive.canonical.com/ubuntu bionic partner
50. deb http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted
51. deb-src http://mirrors.aliyun.com/ubuntu/ bionic-security main universe restricted multiverse #Added by software-properties
52. # deb-src http://security.ubuntu.com/ubuntu bionic-security main restricted
53. deb http://mirrors.aliyun.com/ubuntu/ bionic-security universe
54. # deb-src http://security.ubuntu.com/ubuntu bionic-security universe
55. deb http://mirrors.aliyun.com/ubuntu/ bionic-security multiverse
56. # deb-src http://security.ubuntu.com/ubuntu bionic-security multiverse
57. deb [arch=amd64] https://download.docker.com/linux/ubuntu bionic stable
58. # deb-src [arch=amd64] https://download.docker.com/linux/ubuntu bionic stable
59. deb http://security.ubuntu.com/ubuntu xenial-security main
60. # deb-src http://security.ubuntu.com/ubuntu xenial-security main
61. # deb-src http://security.ubuntu.com/ubuntu xenial-security main
65. deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse
66. # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse
67. deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
68. # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
69. deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
70. # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
71. deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
72. # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
73. deb http://archive.ubuntu.com/ubuntu/ trusty main universe restricted multiverse
75. # deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse
76. # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse
77. deb http://mirrors.ustc.edu.cn/ubuntu/ bionic main restricted universe multiverse
78. deb http://mirrors.ustc.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
79. deb http://mirrors.ustc.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
80. deb http://mirrors.ustc.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse
81. deb http://mirrors.ustc.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
82. #deb-src http://mirrors.ustc.edu.cn/ubuntu/ bionic main restricted universe multiverse
83. #deb-src http://mirrors.ustc.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
84. #deb-src http://mirrors.ustc.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
85. #deb-src http://mirrors.ustc.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse
86. #deb-src http://mirrors.ustc.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse

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如果需要更换源，最后别忘了下面命令更新一下

1. sudo apt-get update

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执行命令安装ros

1. wget http://fishros.com/install -O fishros && . fishros

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终端输入上面命令进行安装ros，会自动帮我们检测环境依赖

1. RUN Choose Task:[请输入括号内的数字]
2. ---众多工具，等君来用---
3. [1]:一键安装:ROS(支持ROS和ROS2,树莓派Jetson)
4. [2]:一键安装:github桌面版(小鱼常用的github客户端)
5. [3]:一键配置:rosdep(小鱼的rosdepc,又快又好用)
6. [4]:一键配置:ROS环境(快速更新ROS环境设置,自动生成环境选择)
7. [5]:一键配置:系统源(更换系统源,支持全版本Ubuntu系统)
8. [6]:一键安装:nodejs开发环境(通过nodejs可以预览小鱼官网噢)
9. [7]:一键安装:VsCode
10. [8]:一键安装:Docker
11. [77]:测试模式:运行自定义工具测试
12. [0]:quit
13. 请输入[]内的数字以选择:

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这里我选择1，然后进到下一个选择项

1. 小鱼:检测当前系统ubuntu18.04:bionic 支持一键安装ROS
2. RUN Choose Task:[请输入括号内的数字]
3. 如果您是第一次安装，推荐您先更换一下系统源
4. [1]:更换系统源再继续安装
5. [2]:不更换继续安装
6. [0]:quit
7. 请输入[]内的数字以选择:2

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因为我的源已经更换过，所以选择2

1. [1]:melodic
2. [2]:bouncy
3. [3]:crystal
4. [4]:dashing
5. [5]:eloquent
6. [0]:quit
7. 请输入[]内的数字以选择:1

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ubuntu版本对应安装ros版本如下：

ubuntu版本	Ros版本
Ubuntu14.04	Ingigo
Ubuntu16.04	Kinetic
Ubuntu18.04	Melodic
Ubuntu20.04	Noetic

1. 请选择安装的具体版本:
2. [1]:melodic完全版
3. [2]:melodic基础版(小)
4. [0]:quit
5. 请输入[]内的数字以选择:

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这里我选择的是1，安装完全版，然后回车就进入安装的过程了
安装完后我们还需要初始化一下rosdep，这里继续用大佬的源

1. RUN Choose Task:[请输入括号内的数字]
2. ---众多工具，等君来用---
3. [1]:一键安装:ROS(支持ROS和ROS2,树莓派Jetson)
4. [2]:一键安装:github桌面版(小鱼常用的github客户端)
5. [3]:一键配置:rosdep(小鱼的rosdepc,又快又好用)
6. [4]:一键配置:ROS环境(快速更新ROS环境设置,自动生成环境选择)
7. [5]:一键配置:系统源(更换系统源,支持全版本Ubuntu系统)
8. [6]:一键安装:nodejs开发环境(通过nodejs可以预览小鱼官网噢)
9. [7]:一键安装:VsCode
10. [8]:一键安装:Docker
11. [77]:测试模式:运行自定义工具测试
12. [0]:quit
13. 请输入[]内的数字以选择:3

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然后回车，配置好后会有如下提示

1. 已为您安装好rosdepc,请使用:
2. rosdepc update
3. 进行测试更新,最后欢迎关注微信公众号《鱼香ROS》
4. 一键安装已开源，欢迎给个star/提出问题/帮助完善：https://github.com/fishros/install/

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我们执行命令更新一下

1. rosdepc update

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至此，ros的安装就完成了

环境配置

环境配置我们最好根据官网教程自己手动配置一下,大佬的工具也是把ros安装在opt目录下

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

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现在我们验证一下，打开三个终端，分别执行以下命令

1. roscore
2. rosrun turtlesim turtlesim_node
3. rosrun turtlesim turtle_teleop_key

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如下图所示，说明ros安装成功

如果你觉得启动三个终端太麻烦，也可以写一个启动的脚本 turtlesim.launch

1. <launch>
2. <node pkg="turtlesim" name="turtle1" type="turtlesim_node"/>
3. <node pkg="turtlesim" name="turtle1_key" type="turtle_teleop_key"/>
4. </launch>

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这样我们就可以直接在终端执行命令启动

1. roslaunch turtlesim.launch

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最后再膜拜一下鱼香ros大佬，这个工具太好用了