1. 备份sources.list
sudo cp /etc/apt/sources.list /etc/apt/sources.list.backup
2.修改 source.list 如果20.04，修改bionic为noetic
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-updates main restricted universe multiverse
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-updates main restricted universe multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-security main restricted universe multiverse
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-security main restricted universe multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-backports main restricted universe multiverse
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-backports main restricted universe multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic main universe restricted
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic main universe restricted
3.更新sources.list
sudo apt update
4.更换ROS源
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
可以用清华源
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
5.更新秘钥 二选一
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt-key adv --keyserver 'hkp://pgp.mit.edu:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
6.ROS安装
先更新下 sudo apt-get update
sudo apt-get install ros-noetic-desktop-full
7初始化ROS
sudo apt install rospack-tools
sudo rosdep init
rosdep update
如果rosdep执行失败
需要修改
sudo vim /usr/lib/python【2/3】/dist-packages/rosdep2/sources_list.py
sudo vim /usr/lib/python【2/3】/dist-packages/rosdep2/gbpdistro_support.py
sudo vim /usr/lib/python【2/3】/dist-packages/rosdep2/rep3.py
sudo vim /usr/lib/python【2/3】/dist-packages/rosdep2/__init__.py
8.添加ROS环境变量
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
9.安装ROS功能包
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
10.运行小海
roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key
到这里，ROS环境安装完成
参考链接：
https://blog.csdn.net/qq_42768827/article/details/116983347
https://blog.csdn.net/m0_65132134/article/details/131916342