1 设置国内源

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 设置密钥

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

3 安装rosdep

sudo apt install python-rosdep2 

4 安装melodic

sudo apt-get update
sudo apt-get install ros-melodic-desktop-full
sudo apt-get install ros-melodic-rqt*

5 设置环境

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

6 然后初始化rosdep

sudo rosdep init
rosdep update

如果提示没有rosdep就执行

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

如果rosdep执行报错就参考下述网址
https://blog.csdn.net/Numberors/article/details/105614301

7 安装building packages and catkin tools

sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential python-catkin-tools

8 测试

打开一个终端输入roscore
再打开一个终端输入rosrun turtlesim turtlesim_node
再打开一个终端输入rosrun turtlesim turtle_teleop_key
然后就可以控制小海龟移动了，至此成功。

9 采坑记录

ROS安装中报错解决 /var/cache/apt/archives/python-rospkg-modules_1.1.9-1_all.deb

参考这篇博客：https://blog.csdn.net/yeya24/article/details/80471726

#使用这个指令：sudo dpkg -i --force-overwrite
$ sudo dpkg -i --force-overwrite /var/cache/apt/archives/python-rospkg-modules_1.1.9-1_all.deb
#然后：
$ sudo apt-get -f install
 

Ubuntu16安装ROS遇到的问题及解决方案