一：配置系统软件源，软件源初始化

1：配置系统软件源

sudo cp /etc/apt/sources.list /etc/apt/sources.list.backup

2：编辑系统软件源

sudo gedit /etc/apt/sources.list

3：20.04LTS源码镜像复制到sources.list·文件中

# 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted universe multiverse
# # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted universe multiversedeb http://security.ubuntu.com/ubuntu/ focal-security main restricted universe multiverse
# deb-src http://security.ubuntu.com/ubuntu/ focal-security main restricted universe multiverse# 预发布软件源，不建议启用
# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-proposed main restricted universe multiverse
# # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-proposed main restricted universe multiversedeb http://archive.ubuntu.com/ubuntu bionic main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ bionic main restricted universe multiversedeb http://archive.ubuntu.com/ubuntu/ trusty main universe restricted multiversedeb http://security.ubuntu.com/ubuntu xenial-security main

4：更新源

sudo apt update

5：添加ROS源：在终端输入如下指令，设置sources.list。

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

6：添加密钥：在终端输入如下指令，添加Ros密钥

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

7：更新源

sudo apt update

8：安装桌面完整版Ros。使用aptitude进行安装

sudo apt-get install aptitude

二：安装ROS，初始化rosdep，下载rosdistro文件

1：安装ROS

sudo aptitude install ros-noetic-desktop-full

2：设置环境变量：对环境变量进行配置

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

3：初始化rosdep：下载rosdistro文件

cd /opt/ros/noetic/
git clone https://github.com/ros/rosdistro.git

三：修改后面文件：20-default.list，gbpdistro_support.py，rep3.py，init.py

1：修改文件1：20-default.list，将里面的URL改为file路径，需要删除默认URL路径中的/master/

cd /opt/ros/noetic/rosdistro/rosdep/sources.list.d/
sudo gedit 20-default.list

1.1修改为如下内容

# os-specific listings first
yaml file:///opt/ros/noetic/rosdistro/rosdep/osx-homebrew.yaml osx# generic
yaml file:///opt/ros/noetic/rosdistro/rosdep/base.yaml
yaml file:///opt/ros/noetic/rosdistro/rosdep/python.yaml
yaml file:///opt/ros/noetic/rosdistro/rosdep/ruby.yaml
gbpdistro file:///opt/ros/noetic/rosdistro/releases/fuerte.yaml fuerte# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead

2：修改文件2：gbpdistro_support.py

cd /usr/lib/python3/dist-packages/rosdep2/
sudo gedit gbpdistro_support.py

2.1：修改为如下内容

FUERTE_GBPDISTRO_URL = 'file:///opt/ros/noetic/rosdistro/' \'releases/fuerte.yaml'

3：修改文件3：rep3.py

cd /usr/lib/python3/dist-packages/rosdep2/
sudo gedit rep3.py

3.1：修改为如下内容

REP3_TARGETS_URL = 'file:///opt/ros/noetic/rosdistro/releases/targets.yaml'

4：修改文件4：init.py

cd /usr/lib/python3/dist-packages/rosdistro/
sudo gedit __init__.py

4.1：修改为如下内容

DEFAULT_INDEX_URL = 'file:///opt/ros/noetic/rosdistro/index-v4.yaml'

四：安装python-rosdep，安装rosinstall，初始化rosdep。

1：安装python-rosdep

sudo apt-get install python3-rosdep

2：创建20-default.list文件，安装了python-rosdep后，因为国内网络被屏蔽的原因运行sudo rosdep init还出现无法下载或连接失败的错误。所以用如下命令创建这个文件。

sudo mkdir -p /etc/ros/rosdep/sources.list.d 
cd /etc/ros/rosdep/sources.list.d
sudo gedit 20-default.list# 在文件中添加如下内容
#os-specific listings first
yaml file:///opt/ros/noetic/rosdistro/rosdep/osx-homebrew.yaml osx
#generic
yaml file:///opt/ros/noetic/rosdistro/rosdep/base.yaml
yaml file:///opt/ros/noetic/rosdistro/rosdep/python.yaml
yaml file:///opt/ros/noetic/rosdistro/rosdep/ruby.yaml
gbpdistro file:///opt/ros/noetic/rosdistro/releases/fuerte.yaml fuerte
#newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead

3：初始化rosdep。

rosdep update

4：安装rosinstall

安装rosinstall命令：

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

五：查看是否安装成功

1：先运行ROS

# 启动ROS Master
roscore

2：进行查看是否成功，是否有报错

roswtf

六：运行ROS，运行小乌龟

1：运行ROS，启动小乌龟

# 启动ROS Master
roscore# 启动小海龟仿真器
rosrun turtlesim turtlesim_node# 启动小海龟控制节点
rosrun turtlesim turtle_teleop_key