0 说明
与Ubuntu 20.04对应的ROS 1版本为Noetic Ninjemys（注意与ROS 2相区别）
1 添加软件源
打开文件sources.list
sudo gedit /etc/apt/sources.list
在文件末尾插入阿里云及清华等国内镜像源
# aliyun deb http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse deb http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse deb http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse deb http://mirrors.aliyun.com/ubuntu/ bionic-proposed main restricted universe multiverse deb http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse deb-src http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse deb-src http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse deb-src http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse deb-src http://mirrors.aliyun.com/ubuntu/ bionic-proposed main restricted universe multiverse deb-src http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse # tsinghua deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse
更新软件包
sudo apt update sudo apt upgrade
2 安装ROS
设置软件源（此处使用清华软件另：源）
sudo sh -c \'. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list\'
设置密钥
sudo apt-key adv --keyserver \'hkp://keyserver.ubuntu.com:80\' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
安装
sudo apt update sudo apt install ros-noetic-desktop-full
设置环境变量
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc source ~/.bashrc
将软件源切换回官方源
sudo sh -c \'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list\'
sudo apt-key adv --keyserver \'hkp://keyserver.ubuntu.com:80\' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
3 测试
# 运行roscore
roscore
# 在新终端中运行
rosrun turtlesim turtlesim_node
# 在另一个新终端中运行
rosrun turtlesim turtle_teleop_key
此时可通过键盘方向键控制