ROS1 noetic 版本在ubuntu20.04安裝出現問題，rosdep update無法下載，網絡地址訪問超時。

ROS1 noetic 版本在ubuntu20.04系統上的安裝方法見博客：Ubuntu Server 20.04 based on Raspberry- Pi-4B 安裝 ROS1 Noetic_Wogg的博客-CSDN博客

一、rosdep init問題

1. sudo rosdep init 出現安全問題

sudo rosdep init命令時出現訪問安全性問題，通過將

sudo vim /etc/apt/sources.list.d/ros-latest.list

在ros-latest.list文件中進行修改?

deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ focal main改為：deb [trusted=yes]?http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ focal main

可以順利通過sudo rosdep init命令。

2. sudo rosdep init 出現網絡問題

出現一下問題：

ubuntu@ubuntu:~$ sudo rosdep init 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.

方法一： 增加raw.githubusercontent.com域名與ip之間的映射

$ sudo vim /etc/hosts151.101.84.133 raw.githubusercontent.com

方法二： 直接創建文件

sudo rosdep init ?作用就是在cd /etc/ros/rosdep/sources.list.d下創建下載列表20-default.list，網站掛掉，直接在相關文件夾下創建即可，無需再執行命令

cd /etc/ros/rosdep/sources.list.d touch 20-default.list

?20-default.list文件內容如下：

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

二、rosdep update問題

rosdep update 核心問題就是raw.githubusercontent.com無法訪問，導致相關文件無法下載。

使用IP138?查詢raw.githubusercontent.com，發現該域名已經被禁止。

按照網上的方法，通過在/etc/hosts中添加域名解析的ip：【151.101.84:133 ?raw.githubusercontent.com】也無法解決，更換過多個ip也無濟于事。

將需要的文件下載到本地，然后指定文件的位置，即可解決該問題。

1. 從github上下載所需要的rosdistro

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

git下載較慢，可從這里下載：?

rosdistro-master.zip-互聯網文檔類資源-CSDN下載

將下載好的包移動到指定位置，例如：

sudo cp -r rosdistro /etc/ros

*** 也可不用移動，在下邊的步驟中將?20-default.list中的文件路徑指定到此包的相應文件即可。

2. 更改sources.list.d

sudo vim /etc/ros/rosdep/sources.list.d/20-default.list

在20-default.list文件更改下載項所在的位置。

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

但是，此時，還有部分文件仍然無法下載。

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

?此時需要修改index-v4.yaml所在的位置

3. 更改python中的ros相關下載項

ros noetic版本基于python3，所以在/usr/lib/python3路徑下修改，其他ros版本若基于python2的，需要找到對應的python2 路徑進行修改。

3.1 修改在__init__.py文件中修改index-v4.yaml的位置

sudo vim /usr/lib/python3/dist-packages/rosdistro/__init__.py #DEFAULT_INDEX_URL = 'https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml' DEFAULT_INDEX_URL = 'file:///etc/ros/rosdistro/index-v4.yaml'

3.2在rep3.py中修改targets.yaml文件的位置?

sudo vim /usr/lib/python3/dist-packages/rosdep2/rep3.py # location of targets file for processing gbpdistro files #REP3_TARGETS_URL = 'https://raw.githubusercontent.com/ros/rosdistro/master/releases/targets.yaml' REP3_TARGETS_URL = 'file:///etc/ros/rosdistro/releases/targets.yaml'

4. 進行更新

rosdep update ubuntu@ubuntu:/etc/ros/rosdep/sources.list.d$ sudo rosdep update reading in sources list data from /etc/ros/rosdep/sources.list.d Warning: running 'rosdep update' as root is not recommended.You should run 'sudo rosdep fix-permissions' and invoke 'rosdep update' again without sudo. Hit file:///etc/ros/rosdistro/rosdep/osx-homebrew.yaml Hit file:///etc/ros/rosdistro/rosdep/base.yaml Hit file:///etc/ros/rosdistro/rosdep/python.yaml Hit file:///etc/ros/rosdistro/rosdep/ruby.yaml Hit file:///etc/ros/rosdistro/releases/fuerte.yaml Query rosdistro index file:///etc/ros/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 /root/.ros/rosdep/sources.cache

enjoy！

參考：

rosdep update一定能通過簡單方法rosdep update_努力是明天快樂的源泉-CSDN博客

解決ROS系統 rosdep update超時問題的新方法_leida_wt的博客-CSDN博客_rosdep update 超時

ros 中ERROR: cannot download default sources list from: https://raw.githubusercontent.com/ros/rosdist_果肉蟲的博客-CSDN博客

ubuntu18 ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/ros_蛇皮怪皮蛇的博客-CSDN博客
rosdep update 的解決_快樂男生總冠軍的博客-CSDN博客_rosdep update
Ubuntu 18.04.05 LTS配置ROS Melodic各種問題詳細解決（填坑）_曉晨的博客-CSDN博客

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