ubuntu18.04安装Melodic版ros

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'

sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

Executing: /tmp/apt-key-gpghome.54A6wOMJsp/gpg.1.sh --keyserver hkp://keyserver.ubuntu.com:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
gpg: key 5523BAEEB01FA116: public key "ROS Builder <rosbuild@ros.org>" imported
gpg: Total number processed: 1
gpg:               imported: 1

sudo apt update

Hit:1 http://mirrors.aliyun.com/ubuntu bionic InRelease
Hit:2 http://mirrors.aliyun.com/ubuntu bionic-updates InRelease                
Hit:3 http://mirrors.aliyun.com/ubuntu bionic-backports InRelease              
Get:4 http://mirrors.ustc.edu.cn/ros/ubuntu bionic InRelease [4,680 B]         
Hit:5 http://mirrors.aliyun.com/ubuntu bionic-security InRelease
Err:4 http://mirrors.ustc.edu.cn/ros/ubuntu bionic InRelease
  The following signatures couldn't be verified because the public key is not available: NO_PUBKEY F42ED6FBAB17C654
Reading package lists... Done
W: GPG error: http://mirrors.ustc.edu.cn/ros/ubuntu bionic InRelease: The following signatures couldn't be verified because the public key is not available: NO_PUBKEY F42ED6FBAB17C654
E: The repository 'http://mirrors.ustc.edu.cn/ros/ubuntu bionic InRelease' is not signed.
N: Updating from such a repository can't be done securely, and is therefore disabled by default.
N: See apt-secure(8) manpage for repository creation and user configuration details.

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654

Executing: /tmp/apt-key-gpghome.QReyslKfKy/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654
gpg: key F42ED6FBAB17C654: public key "Open Robotics <info@osrfoundation.org>" imported
gpg: Total number processed: 1
gpg:               imported: 1

yfm@ubuntu:~$ sudo apt update
Hit:1 http://mirrors.aliyun.com/ubuntu bionic InRelease
Get:2 http://mirrors.ustc.edu.cn/ros/ubuntu bionic InRelease [4,680 B]         
Hit:3 http://mirrors.aliyun.com/ubuntu bionic-updates InRelease                
Hit:4 http://mirrors.aliyun.com/ubuntu bionic-backports InRelease              
Get:5 http://mirrors.ustc.edu.cn/ros/ubuntu bionic/main amd64 Packages [797 kB]
Hit:6 http://mirrors.aliyun.com/ubuntu bionic-security InRelease               
Get:7 http://mirrors.ustc.edu.cn/ros/ubuntu bionic/main i386 Packages [28.5 kB]
Fetched 825 kB in 1s (1,378 kB/s)   
Reading package lists... Done
Building dependency tree       
Reading state information... Done
All packages are up to date.

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

yfm@ubuntu:~$ sudo apt install python-rosdep
Reading package lists... Done
Building dependency tree       
Reading state information... Done
The following packages were automatically installed and are no longer required:
  fonts-liberation2 fonts-opensymbol gir1.2-gst-plugins-base-1.0 gir1.2-gstreamer-1.0
  gir1.2-gudev-1.0 gir1.2-udisks-2.0 grilo-plugins-0.3-base gstreamer1.0-gtk3 libcdr-0.1-1
  libclucene-contribs1v5 libclucene-core1v5 libcmis-0.5-5v5 libcolamd2 libdazzle-1.0-0
  libe-book-0.1-1 libedataserverui-1.2-2 libeot0 libepubgen-0.1-1 libetonyek-0.1-1
  libevent-2.1-6 libexiv2-14 libfreerdp-client2-2 libfreerdp2-2 libgc1c2 libgee-0.8-2
  libgexiv2-2 libgom-1.0-0 libgpgmepp6 libgpod-common libgpod4 liblangtag-common liblangtag1
  liblirc-client0 liblua5.3-0 libmediaart-2.0-0 libmspub-0.1-1 libodfgen-0.1-1 libqqwing2v5
  librevenge-0.0-0 libsgutils2-2 libssh-4 libsuitesparseconfig5 libvncclient1 libwinpr2-2
  libxapian30 libxmlsec1-nss lp-solve media-player-info python3-mako python3-markupsafe
  syslinux syslinux-common syslinux-legacy usb-creator-common
Use 'sudo apt autoremove' to remove them.
The following NEW packages will be installed:
  python-rosdep
0 upgraded, 1 newly installed, 0 to remove and 0 not upgraded.
Need to get 3,284 B of archives.
After this operation, 21.5 kB of additional disk space will be used.
Get:1 http://mirrors.ustc.edu.cn/ros/ubuntu bionic/main amd64 python-rosdep all 0.22.1-1 [3,284 B]
Fetched 3,284 B in 0s (19.8 kB/s)  
Selecting previously unselected package python-rosdep.
(Reading database ... 233509 files and directories currently installed.)
Preparing to unpack .../python-rosdep_0.22.1-1_all.deb ...
Unpacking python-rosdep (0.22.1-1) ...
Setting up python-rosdep (0.22.1-1) ...

yfm@ubuntu:~$ sudo rosdep init

ERROR: Rosdep experienced an error: ('The read operation timed out',)
Please go to the rosdep page [1] and file a bug report with the stack trace below.
[1] : http://www.ros.org/wiki/rosdep

rosdep version: 0.22.1

Traceback (most recent call last):
  File "/usr/lib/python2.7/dist-packages/rosdep2/main.py", line 146, in rosdep_main
    exit_code = _rosdep_main(args)
  File "/usr/lib/python2.7/dist-packages/rosdep2/main.py", line 444, in _rosdep_main
    return _no_args_handler(command, parser, options, args)
  File "/usr/lib/python2.7/dist-packages/rosdep2/main.py", line 453, in _no_args_handler
    return command_handlers[command](options)
  File "/usr/lib/python2.7/dist-packages/rosdep2/main.py", line 597, in command_init
    data = download_default_sources_list()
  File "/usr/lib/python2.7/dist-packages/rosdep2/sources_list.py", line 326, in download_default_sources_list
    f = urlopen_gzip(url, timeout=DOWNLOAD_TIMEOUT)
  File "/usr/lib/python2.7/dist-packages/rosdep2/url_utils.py", line 50, in urlopen_gzip
    response = urlopen(url_request, **kwargs)
  File "/usr/lib/python2.7/urllib2.py", line 154, in urlopen
    return opener.open(url, data, timeout)
  File "/usr/lib/python2.7/urllib2.py", line 429, in open
    response = self._open(req, data)
  File "/usr/lib/python2.7/urllib2.py", line 447, in _open
    '_open', req)
  File "/usr/lib/python2.7/urllib2.py", line 407, in _call_chain
    result = func(*args)
  File "/usr/lib/python2.7/urllib2.py", line 1248, in https_open
    context=self._context)
  File "/usr/lib/python2.7/urllib2.py", line 1208, in do_open
    r = h.getresponse(buffering=True)
  File "/usr/lib/python2.7/httplib.py", line 1178, in getresponse
    response.begin()
  File "/usr/lib/python2.7/httplib.py", line 452, in begin
    version, status, reason = self._read_status()
  File "/usr/lib/python2.7/httplib.py", line 408, in _read_status
    line = self.fp.readline(_MAXLINE + 1)
  File "/usr/lib/python2.7/socket.py", line 480, in readline
    data = self._sock.recv(self._rbufsize)
  File "/usr/lib/python2.7/ssl.py", line 754, in recv
    return self.read(buflen)
  File "/usr/lib/python2.7/ssl.py", line 641, in read
    v = self._sslobj.read(len)
SSLError: ('The read operation timed out',)

yfm@ubuntu:~$ sudo rosdep init
Wrote /etc/ros/rosdep/sources.list.d/20-default.list
Recommended: please run

    rosdep update

yfm@ubuntu:~$ rosdep update
reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/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"
Add distro "humble"
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/yfm/.ros/rosdep/sources.cache

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

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