ROS-安装并配置ROS环境（melodic版本）

Ubuntu18.04 + melodic安装说明

1. 安装源

国外的源（任选一个）

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

国内的源

$ sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

2. 设置key

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

3. 更新

$ sudo apt-get update

4. 安装桌面版功能全

$ sudo apt-get install ros-melodic-desktop-full

5. 安装依赖

 $ sudo rosdep init
 $ rosdep update

6. 环境设置

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

7. 安装rosinstall,便利的工具

$ sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential

8. 检查是否安装成功小海龟案例

$ roscore
$ rosrun turtlesim turtlesim_node 
$ rosrun turtlesim turtle_teleop_key 

9. 卸载melodic

 $ sudo apt-get remove ros-melodic-*