在RK3588开发板快速搭建ros环境以及运行ros程序（以usb_cam为例）

一、参考资料

ROS的最简单安装——鱼香一键安装-CSDN博客

二、搭建ros环境

1. 一键配置ros

总体流程：
（1）wget执行脚本。
（2）输入数字[5]:一键配置:系统源(更换系统源,支持全版本Ubuntu系统)
（3）输入数字[2]:更换系统源并清理第三方源
（4）输入数字[1]:添加ROS/ROS2源

步骤一：

wget http://fishros.com/install -O fishros && . fishros

步骤二：

RUN Choose Task:[请输入括号内的数字]
---众多工具，等君来用---
ROS相关:[1]:一键安装(推荐):ROS(支持ROS/ROS2,树莓派Jetson)[3]:一键安装:rosdep(小鱼的rosdepc,又快又好用)[4]:一键配置:ROS环境(快速更新ROS环境设置,自动生成环境选择)[9]:一键安装:Cartographer(18 20测试通过,16未测. updateTime 20240125)[11]:一键安装:ROS Docker版(支持所有版本ROS/ROS2)[16]:一键安装：系统自带ROS (！！警告！！仅供特殊情况下使用)常用软件:[2]:一键安装:github桌面版(小鱼常用的github客户端)[6]:一键安装:NodeJS环境[7]:一键安装:VsCode开发工具[8]:一键安装:Docker[10]:一键安装:微信(可以在Linux上使用的微信)[12]:一键安装:PlateformIO MicroROS开发环境(支持Fishbot)[15]:一键安装：QQ for Linux配置工具:[5]:一键配置:系统源(更换系统源,支持全版本Ubuntu系统)[13]:一键配置:python国内源[17]:一键配置: Docker代理(支持VPN+代理服务两种模式)[0]:quit请输入[]内的数字以选择:5

步骤三：

欢迎使用一键更换系统源,本工具由作者小鱼提供
RUN Choose Task:[请输入括号内的数字]
请选择换源方式,如果不知道选什么请选2
[1]:仅更换系统源
[2]:更换系统源并清理第三方源
[0]:quit
请输入[]内的数字以选择:2

步骤四：

RUN Choose Task:[请输入括号内的数字]
请问是否添加ROS和ROS2源？
[1]:添加ROS/ROS2源
[2]:不添加ROS/ROS2源
[0]:quit
请输入[]内的数字以选择:1

输出完整日志：

--2025-07-04 15:23:21--  http://fishros.com/installstall -O fishros && . fishros
Resolving fishros.com (fishros.com)... 47.119.165.169
Connecting to fishros.com (fishros.com)|47.119.165.169|:80... connected.
HTTP request sent, awaiting response... 301 Moved Permanently
Location: http://fishros.com/install/ [following]
--2025-07-04 15:23:21--  http://fishros.com/install/
Reusing existing connection to fishros.com:80.
HTTP request sent, awaiting response... 200 OK
Length: 960 [application/octet-stream]
Saving to: ‘fishros’fishros             100%[===================>]     960  --.-KB/s    in 0s2025-07-04 15:23:21 (20.7 MB/s) - ‘fishros’ saved [960/960]Reading package lists... Done
Building dependency tree
Reading state information... Done
python3-distro is already the newest version (1.4.0-1).
python3-yaml is already the newest version (5.3.1-1ubuntu0.1).
0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.
--2025-07-04 15:23:22--  http://mirror.fishros.com/install/tools/base.py
Resolving mirror.fishros.com (mirror.fishros.com)... 47.119.165.169
Connecting to mirror.fishros.com (mirror.fishros.com)|47.119.165.169|:80... connected.
HTTP request sent, awaiting response... 200 OK
Length: 51510 (50K) [application/octet-stream]
Saving to: ‘/tmp/fishinstall//tools/base.py’/tmp/fishinstall//t 100%[===================>]  50.30K   286KB/s    in 0.2s2025-07-04 15:23:23 (286 KB/s) - ‘/tmp/fishinstall//tools/base.py’ saved [51510/51510]Run CMD Task:[dpkg --print-architecture]
[-][0.01s] CMD Result:successRun CMD Task:[wget http://mirror.fishros.com/install/tools/translation/translator.py -O /tmp/fishinstall//tools/translation/translator.py --no-check-certificate]
[-][0.07s] CMD Result:success                                               169|:80... connected.r.pyRun CMD Task:[wget http://mirror.fishros.com/install/tools/translation/assets/zh_CN.py -O /tmp/fishinstall//tools/translation/assets/zh_CN.py --no-check-certificate]
[-][0.23s] CMD Result:success                                               169|:80... connected._CN.pyRun CMD Task:[wget http://mirror.fishros.com/install/tools/translation/assets/en_US.py -O /tmp/fishinstall//tools/translation/assets/en_US.py --no-check-certificate]
[-][0.49s] CMD Result:success                                               169|:80... connected._US.pyRun CMD Task:[wget https://fishros.org.cn/forum/topic/1733 -O /tmp/t1733 -q  --timeout 10 && rm -rf /tmp/t1733]
[-][7.94s] CMD Result:success已为您切换语言至当前所在国家语言:zh_CN
基础检查通过...
===============================================================================
======欢迎使用一键安装工具，人生苦短，三省吾身，省时省力省心!=======
======一键安装已开源，请放心使用：https://github.com/fishros/install =======
===============================================================================.-~~~~~~~~~-._       _.-~~~~~~~~~-.__.'              ~.   .~              `.__.'//     开卷有益        \./     书山有路     \ `..'// 可以多看看小鱼的文章  | 关注B站鱼香ROS机器人 \ `..'// .-~~~~~~~~~~~~~~-._     |     _,-~~~~~~~~~~~. \`..'//.-"                 `-.  |  .-'                 "-.\`..'//______.============-..   \ | /   ..-============.______\`..'______________________________\|/______________________________`----------------------------------------------------------------------
RUN Choose Task:[请输入括号内的数字]
---众多工具，等君来用---
ROS相关:[1]:一键安装(推荐):ROS(支持ROS/ROS2,树莓派Jetson)[3]:一键安装:rosdep(小鱼的rosdepc,又快又好用)[4]:一键配置:ROS环境(快速更新ROS环境设置,自动生成环境选择)[9]:一键安装:Cartographer(18 20测试通过,16未测. updateTime 20240125)[11]:一键安装:ROS Docker版(支持所有版本ROS/ROS2)[16]:一键安装：系统自带ROS (！！警告！！仅供特殊情况下使用)常用软件:[2]:一键安装:github桌面版(小鱼常用的github客户端)[6]:一键安装:NodeJS环境[7]:一键安装:VsCode开发工具[8]:一键安装:Docker[10]:一键安装:微信(可以在Linux上使用的微信)[12]:一键安装:PlateformIO MicroROS开发环境(支持Fishbot)[15]:一键安装：QQ for Linux配置工具:[5]:一键配置:系统源(更换系统源,支持全版本Ubuntu系统)[13]:一键配置:python国内源[17]:一键配置: Docker代理(支持VPN+代理服务两种模式)[0]:quit请输入[]内的数字以选择:5
Run CMD Task:[wget http://mirror.fishros.com/install/tools/tool_config_system_source.py -O /tmp/fishinstall/tools/tool_config_system_source.py --no-check-certificate]
[-][0.53s] CMD Result:success                                               169|:80... connected.urce.pyRun CMD Task:[wget http://mirror.fishros.com/install/tools/tool_install_ros.py -O /tmp/fishinstall/tools/tool_install_ros.py --no-check-certificate]
[-][0.40s] CMD Result:success                                               169|:80... connected.欢迎使用一键更换系统源,本工具由作者小鱼提供
RUN Choose Task:[请输入括号内的数字]
请选择换源方式,如果不知道选什么请选2
[1]:仅更换系统源
[2]:更换系统源并清理第三方源
[0]:quit
请输入[]内的数字以选择:2
Run CMD Task:[sudo rm -rf /etc/apt/sources.list]
[-][0.22s] CMD Result:success删除一个资源文件
Run CMD Task:[sudo rm -rf /etc/apt/sources.list.d]
[-][0.26s] CMD Result:successRun CMD Task:[sudo mkdir -p /etc/apt/sources.list.d]
[-][0.20s] CMD Result:successRun CMD Task:[dpkg --print-architecture]
[-][0.02s] CMD Result:success检测到当前系统:ubuntu 架构:arm64 代号:focal,正在为你搜索适合的源...
搜索到可用源:['https://ports.ubuntu.com/ubuntu-ports', 'https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports', 'https://ports.ubuntu.com/ubuntu-ports', 'https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports', 'http://ports.ubuntu.com/ubuntu-ports', 'http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports', 'http://ports.ubuntu.com/ubuntu-ports', 'http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports']
接下来将进行自动测速以为您选择最快的源:
- https://ports.ubuntu.com/ubuntu-ports         延时:0.98s
- https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports             延时:0.18s
- https://ports.ubuntu.com/ubuntu-ports         延时:0.73s
- https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports             延时:0.17s
- http://ports.ubuntu.com/ubuntu-ports          延时:0.73s
- http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports              延时:0.18s
- http://ports.ubuntu.com/ubuntu-ports          延时:5.76s
- http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports              延时:1.57s
为您选择最快镜像源:https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports
创建文件:/etc/apt/sources.list
替换镜像源完成，尝试进行更新....
Run CMD Task:[sudo apt update]
[/][25.25s] Get:5 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal-updates/main arm64 Packages [3079 k[\][25.25s] Get:6 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal-updates/main Translation-en [601 kB[|][25.31s] Get:7 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal-updates/restricted arm64 Packages [[-][25.31s] Get:8 
...
...
...
https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal-security/multiverse Translation-e[/][127.60s] Get:20 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal-security/multiverse Translation-e[/][127.70s] Get:20 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal-security/multiverse Translation-e[-][128.53s] CMD Result:success                                               hem.搞定了,不信你看,累死宝宝了，还不快去给小鱼点个赞~
['Hit:1 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal InRelease', 'Get:2 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal-updates InRelease [128 kB]', 'Hit:3 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal-backports InRelease', 'Get:4 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal-security InRelease [128 kB]', 'Get:5 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal-updates/main arm64 Packages [3079 kB]', 'Get:6 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal-updates/main Translation-en [601 kB]', 'Get:7 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal-updates/restricted arm64 Packages [63.5 kB]', 'Get:8 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal-updates/restricted Translation-en [548 kB]', 'Get:9 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal-updates/universe arm64 Packages [1187 kB]', 'Get:10 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal-updates/universe Translation-en [303 kB]', 'Get:11 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal-updates/multiverse arm64 Packages [13.1 kB]', 'Get:12 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal-updates/multiverse Translation-en [8316 B]', 'Get:13 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal-security/main arm64 Packages [2763 kB]', 'Get:14 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal-security/main Translation-en [518 kB]', 'Get:15 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal-security/restricted arm64 Packages [59.0 kB]', 'Get:16 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal-security/restricted Translation-en [527 kB]', 'Get:17 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal-security/universe arm64 Packages [965 kB]', 'Get:18 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal-security/universe Translation-en [221 kB]', 'Get:19 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal-security/multiverse arm64 Packages [7244 B]', 'Get:20 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal-security/multiverse Translation-en [6448 B]', 'Reading package lists...', 'Building dependency tree...', 'Reading state information...', "33 packages can be upgraded. Run 'apt list --upgradable' to see them."]
镜像更新完成.....
RUN Choose Task:[请输入括号内的数字]
请问是否添加ROS和ROS2源？
[1]:添加ROS/ROS2源
[2]:不添加ROS/ROS2源
[0]:quit
请输入[]内的数字以选择:1
小鱼:检测当前系统ubuntu20.04:focal 支持一键安装ROS
============正在添加ROS源密钥=================
Run CMD Task:[sudo apt update]
[-][68.03s] CMD Result:success                                               hem.y InRelease [128 kB]Run CMD Task:[sudo apt search curl ]
[-][14.62s] CMD Result:success                                               0-0ubuntu0.20.04 arm646464646464Run CMD Task:[sudo apt install curl -y]
[-][4.86s] CMD Result:successRun CMD Task:[sudo apt search gnupg2 ]
[-][10.85s] CMD Result:success                                               package)Run CMD Task:[sudo apt install gnupg2 -y]
[/][10.39s] Get:1 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal-updates/universe arm64 gnupg2 all 2[\][10.39s] Get:1 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal-updates/universe arm64 gnupg2 all 2[\][10.47s] Get:1 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal-updates/universe arm64 gnupg2 all 2[\][10.57s] Get:1 
...
...
...
https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal-updates/universe arm64 gnupg2 all 2[\][31.31s] Get:1 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal-updates/universe arm64 gnupg2 all 2[\][31.41s] Get:1 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal-updates/universe arm64 gnupg2 all 2[-][39.24s] CMD Result:success                                               lled.)正在挑选最快的密钥服务:['https://gitee.com/ohhuo/rosdistro/raw/master/ros.asc', 'https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc']
- https://gitee.com/ohhuo/rosdistro/raw/master/ros.asc          延时:5.64s
- https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc                延时:0.53s
已自动选择最快密钥服务:https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc
Run CMD Task:[curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -]
[-][17.35s] CMD Result:success                                               minal)Run CMD Task:[sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654]
[/][5.92s] Executing: /tmp/apt-key-gpghome.G8n2jRnQgV/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F[\][5.96s] Executing: /tmp/apt-key-gpghome.G8n2jRnQgV/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F[\][6.02s] Executing: /tmp/apt-key-gpghome.G8n2jRnQgV/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F[\][6.12s] Executing: /tmp/apt-key-gpghome.G8n2jRnQgV/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F[\][6.22s] Executing: /tmp/apt-key-gpghome.G8n2jRnQgV/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F[\][6.33s] Executing: /tmp/apt-key-gpghome.G8n2jRnQgV/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F[\][6.43s] Executing: /tmp/apt-key-gpghome.G8n2jRnQgV/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F[\][6.53s] Executing: /tmp/apt-key-gpghome.G8n2jRnQgV/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F[\][6.63s] Executing: /tmp/apt-key-gpghome.G8n2jRnQgV/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F[\][6.73s] Executing: /tmp/apt-key-gpghome.G8n2jRnQgV/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F[\][6.83s] Executing: /tmp/apt-key-gpghome.G8n2jRnQgV/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F[\][6.93s] Executing: /tmp/apt-key-gpghome.G8n2jRnQgV/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F[\][7.03s] Executing: /tmp/apt-key-gpghome.G8n2jRnQgV/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F[\][7.13s] Executing: /tmp/apt-key-gpghome.G8n2jRnQgV/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F[\][7.23s] Executing: /tmp/apt-key-gpghome.G8n2jRnQgV/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F[\][7.33s] Executing: /tmp/apt-key-gpghome.G8n2jRnQgV/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F[\][7.43s] Executing: /tmp/apt-key-gpghome.G8n2jRnQgV/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F[\][7.53s] Executing: /tmp/apt-key-gpghome.G8n2jRnQgV/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F[\][7.63s] Executing: /tmp/apt-key-gpghome.G8n2jRnQgV/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F[\][7.73s] Executing: /tmp/apt-key-gpghome.G8n2jRnQgV/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F[\][7.83s] Executing: /tmp/apt-key-gpghome.G8n2jRnQgV/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F[\][7.94s] Executing: /tmp/apt-key-gpghome.G8n2jRnQgV/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F[\][8.04s] Executing: /tmp/apt-key-gpghome.G8n2jRnQgV/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F[-][8.15s] CMD Result:success                                               >" not changedRun CMD Task:[dpkg --print-architecture]
[-][0.02s] CMD Result:success根据您的系统，为您推荐安装源为['http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/', 'http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu/']
创建文件:/etc/apt/sources.list.d/ros-fish.list
Run CMD Task:[sudo apt update]
[-][61.65s] CMD Result:success                                               hem.4 Packages [1176 kB]Run CMD Task:[sudo apt search ros-base ]
[\][20.21s]   End-Effector package: provides a ROS-based set of standard interfaces to command robotics end-e[-][20.21s]   Node that enables connected ROS-based devices or robots to exchange ROS messages via an MQTT br[\][20.21s]   A metapackage which extends ros_core and includes other basic non-robot tools like actionlib, d[-][20.25s] CMD Result:success                                               ctionalities like tf2 and urdf.恭喜，成功添加ROS源，接下来可以使用apt安装ROS或者使用[1]一键安装ROS安装！
欢迎加入机器人学习交流QQ群：438144612(入群口令：一键安装)
鱼香小铺正式开业，最低499可入手一台能建图会导航的移动机器人，淘宝搜店：鱼香ROS 或打开链接查看：https://item.taobao.com/item.htm?id=696573635888
如在使用过程中遇到问题，请打开：https://fishros.org.cn/forum 进行反馈

2. 一键安装ros

总体流程：
（1）wget执行脚本。
（2）输入数字[1]:一键安装(推荐):ROS(支持ROS/ROS2,树莓派Jetson)
（3）输入数字[2]:不更换继续安装
（4）输入数字[3]:noetic(ROS1)
（5）输入数字[1]:noetic(ROS1)桌面版

步骤一：

wget http://fishros.com/install -O fishros && . fishros

步骤二：

RUN Choose Task:[请输入括号内的数字]
---众多工具，等君来用---
ROS相关:[1]:一键安装(推荐):ROS(支持ROS/ROS2,树莓派Jetson)[3]:一键安装:rosdep(小鱼的rosdepc,又快又好用)[4]:一键配置:ROS环境(快速更新ROS环境设置,自动生成环境选择)[9]:一键安装:Cartographer(18 20测试通过,16未测. updateTime 20240125)[11]:一键安装:ROS Docker版(支持所有版本ROS/ROS2)[16]:一键安装：系统自带ROS (！！警告！！仅供特殊情况下使用)常用软件:[2]:一键安装:github桌面版(小鱼常用的github客户端)[6]:一键安装:NodeJS环境[7]:一键安装:VsCode开发工具[8]:一键安装:Docker[10]:一键安装:微信(可以在Linux上使用的微信)[12]:一键安装:PlateformIO MicroROS开发环境(支持Fishbot)[15]:一键安装：QQ for Linux配置工具:[5]:一键配置:系统源(更换系统源,支持全版本Ubuntu系统)[13]:一键配置:python国内源[17]:一键配置: Docker代理(支持VPN+代理服务两种模式)[0]:quit请输入[]内的数字以选择:1

步骤三：

欢迎使用一键安装ROS和ROS2,支持树莓派Jetson,本工具由作者小鱼提供
欢迎使用ROS开箱子工具，本工具由[鱼香ROS]小鱼贡献..
小鱼:检测当前系统ubuntu20.04:focal 支持一键安装ROS
=========接下来这一步很很很很重要，如果不知道怎么选请选择1========
RUN Choose Task:[请输入括号内的数字]
新手或首次安装一定要一定要一定要换源并清理三方源，换源!!!系统默认国外源容易失败!!
[1]:更换系统源再继续安装
[2]:不更换继续安装
[0]:quit
请输入[]内的数字以选择:2

步骤四：

RUN Choose Task:[请输入括号内的数字]
请选择你要安装的ROS版本名称(请注意ROS1和ROS2区别):
[1]:foxy(ROS2)
[2]:galactic(ROS2)
[3]:noetic(ROS1)
[4]:rolling(ROS2)
[0]:quit
请输入[]内的数字以选择:3

步骤五：

RUN Choose Task:[请输入括号内的数字]
请选择安装的具体版本(如果不知道怎么选,请选1桌面版):
[1]:noetic(ROS1)桌面版
[2]:noetic(ROS1)基础版(小)
[0]:quit
请输入[]内的数字以选择:1

输出完整日志：

--2025-07-04 15:40:23--  http://fishros.com/installstall -O fishros && . fishros
Resolving fishros.com (fishros.com)... 47.119.165.169
Connecting to fishros.com (fishros.com)|47.119.165.169|:80... connected.
HTTP request sent, awaiting response... 301 Moved Permanently
Location: http://fishros.com/install/ [following]
--2025-07-04 15:40:24--  http://fishros.com/install/
Reusing existing connection to fishros.com:80.
HTTP request sent, awaiting response... 200 OK
Length: 960 [application/octet-stream]
Saving to: ‘fishros’fishros             100%[===================>]     960  --.-KB/s    in 0s2025-07-04 15:40:24 (20.3 MB/s) - ‘fishros’ saved [960/960]Reading package lists... Done
Building dependency tree
Reading state information... Done
python3-distro is already the newest version (1.4.0-1).
python3-yaml is already the newest version (5.3.1-1ubuntu0.1).
0 upgraded, 0 newly installed, 0 to remove and 33 not upgraded.
--2025-07-04 15:40:30--  http://mirror.fishros.com/install/tools/base.py
Resolving mirror.fishros.com (mirror.fishros.com)... 47.119.165.169
Connecting to mirror.fishros.com (mirror.fishros.com)|47.119.165.169|:80... connected.
HTTP request sent, awaiting response... 200 OK
Length: 51510 (50K) [application/octet-stream]
Saving to: ‘/tmp/fishinstall//tools/base.py’/tmp/fishinstall//t 100%[===================>]  50.30K  --.-KB/s    in 0.1s2025-07-04 15:40:30 (347 KB/s) - ‘/tmp/fishinstall//tools/base.py’ saved [51510/51510]Run CMD Task:[dpkg --print-architecture]
[-][0.01s] CMD Result:successRun CMD Task:[wget http://mirror.fishros.com/install/tools/translation/translator.py -O /tmp/fishinstall//too                                                                                             ls/translation/translator.py --no-check-certificate]
[-][1.23s] CMD Result:success                                               169|:80... connected.r.pyRun CMD Task:[wget http://mirror.fishros.com/install/tools/translation/assets/zh_CN.py -O /tmp/fishinstall//t                                                                                             ools/translation/assets/zh_CN.py --no-check-certificate]
[-][0.07s] CMD Result:success                                               169|:80... connected._CN.pyRun CMD Task:[wget http://mirror.fishros.com/install/tools/translation/assets/en_US.py -O /tmp/fishinstall//t                                                                                             ools/translation/assets/en_US.py --no-check-certificate]
[-][0.23s] CMD Result:success                                               169|:80... connected._US.pyRun CMD Task:[wget https://fishros.org.cn/forum/topic/1733 -O /tmp/t1733 -q  --timeout 10 && rm -rf /tmp/t173                                                                                             3]
[-][0.49s] CMD Result:success已为您切换语言至当前所在国家语言:zh_CN
基础检查通过...
===============================================================================
======欢迎使用一键安装工具，人生苦短，三省吾身，省时省力省心!=======
======一键安装已开源，请放心使用：https://github.com/fishros/install =======
===============================================================================.-~~~~~~~~~-._       _.-~~~~~~~~~-.__.'              ~.   .~              `.__.'//     开卷有益        \./     书山有路     \ `..'// 可以多看看小鱼的文章  | 关注B站鱼香ROS机器人 \ `..'// .-~~~~~~~~~~~~~~-._     |     _,-~~~~~~~~~~~. \`..'//.-"                 `-.  |  .-'                 "-.\`..'//______.============-..   \ | /   ..-============.______\`..'______________________________\|/______________________________`----------------------------------------------------------------------
RUN Choose Task:[请输入括号内的数字]
---众多工具，等君来用---
ROS相关:[1]:一键安装(推荐):ROS(支持ROS/ROS2,树莓派Jetson)[3]:一键安装:rosdep(小鱼的rosdepc,又快又好用)[4]:一键配置:ROS环境(快速更新ROS环境设置,自动生成环境选择)[9]:一键安装:Cartographer(18 20测试通过,16未测. updateTime 20240125)[11]:一键安装:ROS Docker版(支持所有版本ROS/ROS2)[16]:一键安装：系统自带ROS (！！警告！！仅供特殊情况下使用)常用软件:[2]:一键安装:github桌面版(小鱼常用的github客户端)[6]:一键安装:NodeJS环境[7]:一键安装:VsCode开发工具[8]:一键安装:Docker[10]:一键安装:微信(可以在Linux上使用的微信)[12]:一键安装:PlateformIO MicroROS开发环境(支持Fishbot)[15]:一键安装：QQ for Linux配置工具:[5]:一键配置:系统源(更换系统源,支持全版本Ubuntu系统)[13]:一键配置:python国内源[17]:一键配置: Docker代理(支持VPN+代理服务两种模式)[0]:quit请输入[]内的数字以选择:1
Run CMD Task:[wget http://mirror.fishros.com/install/tools/tool_install_ros.py -O /tmp/fishinstall/tools/tool                                                                                             _install_ros.py --no-check-certificate]
[-][0.08s] CMD Result:success                                               169|:80... connected.Run CMD Task:[wget http://mirror.fishros.com/install/tools/tool_config_rosenv.py -O /tmp/fishinstall/tools/to                                                                                             ol_config_rosenv.py --no-check-certificate]
[-][0.06s] CMD Result:success                                               169|:80... connected.Run CMD Task:[wget http://mirror.fishros.com/install/tools/tool_config_system_source.py -O /tmp/fishinstall/t                                                                                             ools/tool_config_system_source.py --no-check-certificate]
[-][0.23s] CMD Result:success                                               169|:80... connected.urce.py欢迎使用一键安装ROS和ROS2,支持树莓派Jetson,本工具由作者小鱼提供
欢迎使用ROS开箱子工具，本工具由[鱼香ROS]小鱼贡献..
小鱼:检测当前系统ubuntu20.04:focal 支持一键安装ROS
=========接下来这一步很很很很重要，如果不知道怎么选请选择1========
RUN Choose Task:[请输入括号内的数字]
新手或首次安装一定要一定要一定要换源并清理三方源，换源!!!系统默认国外源容易失败!!
[1]:更换系统源再继续安装
[2]:不更换继续安装
[0]:quit
请输入[]内的数字以选择:2
============正在添加ROS源密钥=================
Run CMD Task:[sudo apt update]
[-][49.43s] CMD Result:success                                               hem.y InRelease [128 kB]Run CMD Task:[sudo apt search curl ]
[-][5.13s]   This package retrieves data from url-format files such as http://, ftp://, package:// file://, e                                                                                             [-][5.13s]   This package retrieves data from url-format files such as http://, ftp://, package:// file://, e                                                                                             [\][5.13s]   This package retrieves data from url-format files such as http://, ftp://, package:// file://, e                                                                                             [\][5.13s]   This package retrieves data from url-format files such as http://, ftp://, package:// file://, e                                                                                             [-][5.17s] CMD Result:success                                               0-0ubuntu0.20.04 arm64646464Run CMD Task:[sudo apt install curl -y]
[-][5.79s] CMD Result:successRun CMD Task:[sudo apt search gnupg2 ]
[-][4.98s] CMD Result:success                                               package)Run CMD Task:[sudo apt install gnupg2 -y]
[-][5.11s] CMD Result:success正在挑选最快的密钥服务:['https://gitee.com/ohhuo/rosdistro/raw/master/ros.asc', 'https://raw.githubuserconten                                                                                             t.com/ros/rosdistro/master/ros.asc']
- https://gitee.com/ohhuo/rosdistro/raw/master/ros.asc          延时:0.53s
- https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc                延时:0.95s
已自动选择最快密钥服务:https://gitee.com/ohhuo/rosdistro/raw/master/ros.asc
Run CMD Task:[curl -s https://gitee.com/ohhuo/rosdistro/raw/master/ros.asc | sudo apt-key add -]
[-][6.74s] CMD Result:success                                               minal)Run CMD Task:[sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654]
[/][0.79s] Executing: /tmp/apt-key-gpghome.odqljV55F8/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F                                                                                             [\][0.85s] Executing: /tmp/apt-key-gpghome.odqljV55F8/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F                                                                                             [\][0.89s] Executing: /tmp/apt-key-gpghome.odqljV55F8/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F                                                                                             [\][1.00s] Executing: /tmp/apt-key-gpghome.odqljV55F8/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F                                                                                             [\][1.10s] Executing: /tmp/apt-key-gpghome.odqljV55F8/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F                                                                                             [\][1.20s] Executing: /tmp/apt-key-gpghome.odqljV55F8/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F                                                                                             [\][1.30s] Executing: /tmp/apt-key-gpghome.odqljV55F8/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F                                                                                             [\][1.40s] Executing: /tmp/apt-key-gpghome.odqljV55F8/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F                                                                                             [\][1.50s] Executing: /tmp/apt-key-gpghome.odqljV55F8/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F                                                                                             [\][1.60s] Executing: /tmp/apt-key-gpghome.odqljV55F8/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F                                                                                             [\][1.70s] Executing: /tmp/apt-key-gpghome.odqljV55F8/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F                                                                                             [\][1.80s] Executing: /tmp/apt-key-gpghome.odqljV55F8/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F                                                                                             [\][1.90s] Executing: /tmp/apt-key-gpghome.odqljV55F8/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F                                                                                             [\][2.00s] Executing: /tmp/apt-key-gpghome.odqljV55F8/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F                                                                                             [\][2.10s] Executing: /tmp/apt-key-gpghome.odqljV55F8/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F                                                                                             [\][2.20s] Executing: /tmp/apt-key-gpghome.odqljV55F8/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F                                                                                             [\][2.30s] Executing: /tmp/apt-key-gpghome.odqljV55F8/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F                                                                                             [\][2.40s] Executing: /tmp/apt-key-gpghome.odqljV55F8/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F                                                                                             [\][2.51s] Executing: /tmp/apt-key-gpghome.odqljV55F8/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F                                                                                             [\][2.61s] Executing: /tmp/apt-key-gpghome.odqljV55F8/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F                                                                                             [\][2.71s] Executing: /tmp/apt-key-gpghome.odqljV55F8/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F                                                                                             [\][2.81s] Executing: /tmp/apt-key-gpghome.odqljV55F8/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F                                                                                             [\][2.91s] Executing: /tmp/apt-key-gpghome.odqljV55F8/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F                                                                                             [\][3.01s] Executing: /tmp/apt-key-gpghome.odqljV55F8/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F                                                                                             [\][3.11s] Executing: /tmp/apt-key-gpghome.odqljV55F8/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F                                                                                             [\][3.21s] Executing: /tmp/apt-key-gpghome.odqljV55F8/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys F                                                                                             [-][3.41s] CMD Result:success                                               >" not changedRun CMD Task:[dpkg --print-architecture]
[-][0.01s] CMD Result:success根据您的系统，为您推荐安装源为['http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/', 'http://mirrors.tuna.tsingh                                                                                             ua.edu.cn/ros2/ubuntu/']
Run CMD Task:[sudo rm -rf /etc/apt/sources.list.d/ros-fish.list]
[-][0.20s] CMD Result:success创建文件:/etc/apt/sources.list.d/ros-fish.list
Run CMD Task:[sudo apt update]
[-][48.26s] CMD Result:success                                               hem.y InRelease [128 kB]Run CMD Task:[sudo apt search ros-base ]
[\][4.63s]   End-Effector package: provides a ROS-based set of standard interfaces to command robotics end-ef                                                                                             [-][4.63s]   Node that enables connected ROS-based devices or robots to exchange ROS messages via an MQTT bro                                                                                             [\][4.63s]   A metapackage which extends ros_core and includes other basic non-robot tools like actionlib, dy                                                                                             [-][4.68s] CMD Result:success                                               ctionalities like tf2 and urdf.恭喜，成功添加ROS源，接下来可以使用apt安装ROS或者使用[1]一键安装ROS安装！
Run CMD Task:[sudo apt search ros-base ]
[\][5.36s]   End-Effector package: provides a ROS-based set of standard interfaces to command robotics end-ef                                                                                             [-][5.36s]   Node that enables connected ROS-based devices or robots to exchange ROS messages via an MQTT bro                                                                                             [\][5.36s]   A metapackage which extends ros_core and includes other basic non-robot tools like actionlib, dy                                                                                             [-][5.41s] CMD Result:success                                               ctionalities like tf2 and urdf.RUN Choose Task:[请输入括号内的数字]
请选择你要安装的ROS版本名称(请注意ROS1和ROS2区别):
[1]:foxy(ROS2)
[2]:galactic(ROS2)
[3]:noetic(ROS1)
[4]:rolling(ROS2)
[0]:quit
请输入[]内的数字以选择:3
RUN Choose Task:[请输入括号内的数字]
请选择安装的具体版本(如果不知道怎么选,请选1桌面版):
[1]:noetic(ROS1)桌面版
[2]:noetic(ROS1)基础版(小)
[0]:quit
请输入[]内的数字以选择:1
Run CMD Task:[sudo apt search aptitude ]
[-][10.25s] CMD Result:success                                               s)trainedRun CMD Task:[sudo apt install aptitude -y]
[\][15.64s] Get:1 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal/universe arm64 aptitude-common all                                                                                              [|][15.64s] Get:1 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal/universe arm64 aptitude-common all                                                                                              [|][15.68s] Get:1 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal/universe arm64 aptitude-common all                                                                                              [|][15.78s] Get:1 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal/universe arm64 aptitude-common all
...
...
...
[/][44.90s] update-alternatives: warning: skip creation of /usr/share/man/ja/man8/aptitude.8.gz because assoc                                                                                             [\][44.90s] update-alternatives: warning: skip creation of /usr/share/man/pl/man8/aptitude.8.gz because assoc                                                                                             [-][52.18s] CMD Result:success                                               e) doesn't existRun CMD Task:[sudo apt install   ros-noetic-desktop-full -y]
sudo: unable to resolve host lubancat: Name or service not known
Reading package lists... Done
Building dependency tree
Reading state information... Done
The following additional packages will be installed:autoconf automake autopoint autotools-dev binfmt-support blt bzip2-doc cmakecmake-data comerr-dev cython3 debhelper default-libmysqlclient-devdh-autoreconf dh-strip-nondeterminism docutils-common dwz flang-18fltk1.3-doc fluid fonts-lato fonts-lyx freeglut3 freeglut3-dev gazebo11gazebo11-common gazebo11-plugin-base gdal-data gettext gir1.2-gtk-2.0gir1.2-harfbuzz-0.0 google-mock googletest graphviz hddtemp hdf5-helpersibverbs-providers icu-devtools ignition-tools intltool-debianjavascript-common krb5-multidev libaec-dev libaec0 libann0 libapr1libapr1-dev libaprutil1 libaprutil1-dev libarchive-cpio-perllibarchive-zip-perl libarmadillo-dev libarmadillo9 libarpack2 libarpack2-devlibasan6 libassimp-dev libassimp5 libassuan-dev libatk1.0-dev libavcodec-devlibavdevice-dev libavfilter-dev libavformat-dev libavresample-devlibavutil-dev libblas-dev libblas3 libblkid-dev libboost-all-devlibboost-atomic-dev libboost-atomic1.71-dev libboost-atomic1.71.0libboost-chrono-dev libboost-chrono1.71-dev libboost-chrono1.71.0libboost-container-dev libboost-container1.71-dev libboost-container1.71.0libboost-context-dev libboost-context1.71-dev libboost-context1.71.0libboost-coroutine-dev libboost-coroutine1.71-dev libboost-coroutine1.71.0libboost-date-time-dev libboost-date-time1.71-dev libboost-date-time1.71.0libboost-dev libboost-exception-dev libboost-exception1.71-devlibboost-fiber-dev libboost-fiber1.71-dev libboost-fiber1.71.0libboost-filesystem-dev libboost-filesystem1.71-devlibboost-filesystem1.71.0 libboost-graph-dev libboost-graph-parallel-devlibboost-graph-parallel1.71-dev libboost-graph-parallel1.71.0libboost-graph1.71-dev libboost-graph1.71.0 libboost-iostreams-devlibboost-iostreams1.71-dev libboost-locale-dev libboost-locale1.71-devlibboost-locale1.71.0 libboost-log-dev libboost-log1.71-devlibboost-log1.71.0 libboost-math-dev libboost-math1.71-devlibboost-math1.71.0 libboost-mpi-dev libboost-mpi-python-devlibboost-mpi-python1.71-dev libboost-mpi-python1.71.0 libboost-mpi1.71-devlibboost-mpi1.71.0 libboost-numpy-dev libboost-numpy1.71-devlibboost-numpy1.71.0 libboost-program-options-devlibboost-program-options1.71-dev libboost-program-options1.71.0libboost-python-dev libboost-python1.71-dev libboost-python1.71.0libboost-random-dev libboost-random1.71-dev libboost-random1.71.0libboost-regex-dev libboost-regex1.71-dev libboost-regex1.71.0libboost-serialization-dev libboost-serialization1.71-devlibboost-serialization1.71.0 libboost-stacktrace-devlibboost-stacktrace1.71-dev libboost-stacktrace1.71.0 libboost-system-devlibboost-system1.71-dev libboost-system1.71.0 libboost-test-devlibboost-test1.71-dev libboost-test1.71.0 libboost-thread-devlibboost-thread1.71-dev libboost-timer-dev libboost-timer1.71-devlibboost-timer1.71.0 libboost-tools-dev libboost-type-erasure-devlibboost-type-erasure1.71-dev libboost-type-erasure1.71.0 libboost-wave-devlibboost-wave1.71-dev libboost-wave1.71.0 libboost1.71-devlibboost1.71-tools-dev libbullet-dev libbullet2.88 libbz2-devlibcaf-openmpi-3 libcairo-script-interpreter2 libcairo2-dev libccd-devlibccd2 libcdt5 libcfitsio-dev libcfitsio-doc libcfitsio8 libcgraph6libcharls-dev libcharls2 libclang-cpp18 libclang1-10 libcoarrays-devlibcoarrays-openmpi-dev libconsole-bridge-dev libconsole-bridge0.4 libcroco3libcurl4-openssl-dev libdap-dev libdap25 libdapclient6v5 libdapserver7v5libdart-collision-bullet-dev libdart-collision-ode-dev libdart-devlibdart-external-ikfast-dev libdart-external-odelcpsolver-devlibdart-utils-dev libdart-utils-urdf-dev libdart6 libdart6-collision-bulletlibdart6-collision-ode libdart6-external-odelcpsolver libdart6-utilslibdart6-utils-urdf libdatrie-dev libdc1394-22-dev libdebhelper-perllibegl-dev libeigen3-dev libepsilon-dev libepsilon1 libevent-2.1-7libevent-dev libevent-extra-2.1-7 libevent-openssl-2.1-7 libexif-devlibexif-doc libfcl-dev libfcl0.5 libffi-dev libfile-stripnondeterminism-perllibflang-18-dev libflann-dev libflann1.9 libfltk-cairo1.3 libfltk-forms1.3libfltk-gl1.3 libfltk-images1.3 libfltk1.3 libfltk1.3-dev libfontconfig1-devlibfreeimage-dev libfreeimage3 libfreetype-dev libfreetype6-devlibfreexl-dev libfreexl1 libfribidi-dev libfyba-dev libfyba0 libgazebo11libgazebo11-dev libgcc-10-dev libgdal-dev libgdal26 libgdcm-dev libgdcm3.0libgdk-pixbuf2.0-dev libgeos-3.8.0 libgeos-c1v5 libgeos-dev libgeotiff-devlibgeotiff5 libgfortran5 libgif-dev libgif7 libgl-dev libgl1-mesa-devlibgl2ps-dev libgl2ps1.4 libgles-dev libgles1 libglew-dev libglew2.1libglib2.0-0 libglib2.0-bin libglib2.0-dev libglib2.0-dev-binlibglu1-mesa-dev libglvnd-dev libglx-dev libgpg-error-dev libgpgme-devlibgphoto2-dev libgraphite2-dev libgssapi-krb5-2 libgssrpc4 libgtest-devlibgtk2.0-dev libgts-0.7-5 libgts-bin libgts-dev libgvc6 libgvpr2libharfbuzz-dev libharfbuzz-gobject0 libhdf4-0-alt libhdf4-alt-devlibhdf5-103 libhdf5-cpp-103 libhdf5-dev libhdf5-mpi-dev libhdf5-openmpi-103libhdf5-openmpi-dev libhwloc-dev libhwloc-plugins libhwloc15 libibverbs-devlibibverbs1 libice-dev libicu-dev libignition-cmake2-dev libignition-common3libignition-common3-av libignition-common3-av-devlibignition-common3-core-dev libignition-common3-devlibignition-common3-events libignition-common3-events-devlibignition-common3-graphics libignition-common3-graphics-devlibignition-common3-profiler libignition-common3-profiler-devlibignition-fuel-tools4 libignition-fuel-tools4-dev libignition-math6libignition-math6-dev libignition-msgs5 libignition-msgs5-devlibignition-tools-dev libignition-transport8 libignition-transport8-core-devlibignition-transport8-dev libignition-transport8-loglibignition-transport8-log-dev libilmbase-dev libjbig-dev libjpeg-devlibjpeg-turbo8-dev libjpeg8-dev libjs-jquery libjs-jquery-ui libjson-c-devlibjsoncpp-dev libjsoncpp1 libjxr0 libk5crypto3 libkadm5clnt-mit11libkadm5srv-mit11 libkdb5-9 libkml-dev libkmlbase1 libkmlconvenience1libkmldom1 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sdformat9-sdfshiboken2 sip-dev tango-icon-theme tcl tcl-dev tcl-vtk7 tcl8.6 tcl8.6-dev tktk-dev tk8.6 tk8.6-blt2.5 tk8.6-dev ttf-bitstream-vera ttf-dejavu-coreunixodbc-dev uuid-dev vtk7 x11proto-core-dev x11proto-dev x11proto-input-devx11proto-randr-dev x11proto-scrnsaver-dev x11proto-xext-devx11proto-xinerama-dev xorg-sgml-doctools xtrans-dev
Suggested packages:autoconf-archive gnu-standards autoconf-doc blt-demo cmake-doc ninja-buildcython-doc dh-make gazebo11-doc gettext-doc libasprintf-dev libgettextpo-devgsfonts graphviz-doc apache2 | lighttpd | httpd krb5-doc python libitpp-devliblapack-doc libboost-doc libboost1.71-doc gccxml libboost-contract1.71-devlibmpfrc++-dev libntl-dev xsltproc doxygen docbook-xsl default-jdk foplibcairo2-doc libcurl4-doc libidn11-dev librtmp-dev libssh2-1-devlibdatrie-doc libeigen3-doc freetype2-doc libgdal-doc libgeotiff-epsggeotiff-bin gdal-bin glew-utils libgirepository1.0-dev libglib2.0-doclibgraphite2-utils krb5-user libgtk2.0-doc libgts-doc libhdf4-doc hdf4-toolslibhdf5-doc libice-doc icu-doc libjs-jquery-ui-docs liblog4cxx-doclibtool-doc liblzma-doc netcdf-bin netcdf-doc libnorm-doc libmyodbcodbc-postgresql tdsodbc unixodbc-bin ogdi-bin ogre-1.9-doclibogre-1.9.0v5-dbg opencv-doc openmpi-doc openni-doc openni2-docimagemagick libpango1.0-doc libpcl-doc postgresql-doc-12 libraw1394-doclibsm-doc spacenavd sqlite3-doc libstdc++-10-doc libsuperlu-doc libtbb-doclibthai-doc libtinyxml-doc gfortran | fortran95-compiler gcj-jdk vtk7-docvtk7-examples java-virtual-machine libx11-doc libxcb-doc libxerces-c-doclibxext-doc libxt-doc libyaml-doc fancontrol m4-doc libmail-box-perlpython-attr-doc python-cycler-doc docutils-doc fonts-linuxlibertine| ttf-linux-libertine texlive-lang-french texlive-latex-basetexlive-latex-recommended dvipng inkscape ipython3 python-matplotlib-docpython3-cairocffi python3-gobject python3-scipy python3-tornadotexlive-extra-utils texlive-latex-extra ttf-staypuft python-nose-docgfortran python-numpy-doc python3-pytest python3-numpy-dbg libgle3python-openssl-doc python3-openssl-dbg python3-gssapi python-pygments-docpython-pyparsing-doc python3-pyqt5-dbg python-pyside2-doc python-sip-doc tixpython3-tk-dbg python-trie-doc python3-pampy python3-qt4 python3-serialpython3-wxgtk2.8 python3-twisted-bin-dbg python-txaio-doc mayavi2 qt5-docfirebird-dev ri ruby-dev bundler sbcl-doc sbcl-source slime gnome-icon-themekdelibs-data tcl-doc tcl-tclreadline tcl8.6-doc tk-doc tk8.6-doc
The following NEW packages will be installed:autoconf automake autopoint autotools-dev binfmt-support blt bzip2-doc cmakecmake-data comerr-dev cython3 debhelper default-libmysqlclient-devdh-autoreconf dh-strip-nondeterminism docutils-common dwz flang-18fltk1.3-doc fluid fonts-lato fonts-lyx freeglut3 freeglut3-dev gazebo11gazebo11-common gazebo11-plugin-base gdal-data gettext gir1.2-gtk-2.0gir1.2-harfbuzz-0.0 google-mock googletest graphviz hddtemp hdf5-helpersibverbs-providers icu-devtools ignition-tools intltool-debianjavascript-common krb5-multidev libaec-dev libaec0 libann0 libapr1libapr1-dev libaprutil1 libaprutil1-dev libarchive-cpio-perllibarchive-zip-perl libarmadillo-dev libarmadillo9 libarpack2 libarpack2-devlibasan6 libassimp-dev libassimp5 libassuan-dev libatk1.0-dev libavcodec-devlibavdevice-dev libavfilter-dev libavformat-dev libavresample-devlibavutil-dev libblas-dev libblas3 libblkid-dev libboost-all-devlibboost-atomic-dev libboost-atomic1.71-dev libboost-atomic1.71.0libboost-chrono-dev libboost-chrono1.71-dev libboost-chrono1.71.0libboost-container-dev libboost-container1.71-dev libboost-container1.71.0libboost-context-dev libboost-context1.71-dev libboost-context1.71.0libboost-coroutine-dev libboost-coroutine1.71-dev libboost-coroutine1.71.0libboost-date-time-dev libboost-date-time1.71-dev libboost-date-time1.71.0libboost-dev libboost-exception-dev libboost-exception1.71-devlibboost-fiber-dev libboost-fiber1.71-dev libboost-fiber1.71.0libboost-filesystem-dev libboost-filesystem1.71-devlibboost-filesystem1.71.0 libboost-graph-dev libboost-graph-parallel-devlibboost-graph-parallel1.71-dev libboost-graph-parallel1.71.0libboost-graph1.71-dev libboost-graph1.71.0 libboost-iostreams-devlibboost-iostreams1.71-dev libboost-locale-dev libboost-locale1.71-devlibboost-locale1.71.0 libboost-log-dev libboost-log1.71-devlibboost-log1.71.0 libboost-math-dev libboost-math1.71-devlibboost-math1.71.0 libboost-mpi-dev libboost-mpi-python-devlibboost-mpi-python1.71-dev libboost-mpi-python1.71.0 libboost-mpi1.71-devlibboost-mpi1.71.0 libboost-numpy-dev libboost-numpy1.71-devlibboost-numpy1.71.0 libboost-program-options-devlibboost-program-options1.71-dev libboost-program-options1.71.0libboost-python-dev libboost-python1.71-dev libboost-python1.71.0libboost-random-dev libboost-random1.71-dev libboost-random1.71.0libboost-regex-dev libboost-regex1.71-dev libboost-regex1.71.0libboost-serialization-dev libboost-serialization1.71-devlibboost-serialization1.71.0 libboost-stacktrace-devlibboost-stacktrace1.71-dev libboost-stacktrace1.71.0 libboost-system-devlibboost-system1.71-dev libboost-system1.71.0 libboost-test-devlibboost-test1.71-dev libboost-test1.71.0 libboost-thread-devlibboost-thread1.71-dev libboost-timer-dev libboost-timer1.71-devlibboost-timer1.71.0 libboost-tools-dev libboost-type-erasure-devlibboost-type-erasure1.71-dev libboost-type-erasure1.71.0 libboost-wave-devlibboost-wave1.71-dev 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ros-noetic-actionlib-msgsros-noetic-actionlib-tutorials ros-noetic-angles ros-noetic-bondros-noetic-bond-core ros-noetic-bondcpp ros-noetic-bondpyros-noetic-camera-calibration ros-noetic-camera-calibration-parsersros-noetic-camera-info-manager ros-noetic-catkin ros-noetic-class-loaderros-noetic-cmake-modules ros-noetic-common-msgs ros-noetic-common-tutorialsros-noetic-compressed-depth-image-transportros-noetic-compressed-image-transport ros-noetic-control-msgsros-noetic-control-toolbox ros-noetic-controller-interfaceros-noetic-controller-manager ros-noetic-controller-manager-msgsros-noetic-cpp-common ros-noetic-cv-bridge ros-noetic-depth-image-procros-noetic-desktop ros-noetic-desktop-full ros-noetic-diagnostic-aggregatorros-noetic-diagnostic-analysis ros-noetic-diagnostic-common-diagnosticsros-noetic-diagnostic-msgs ros-noetic-diagnostic-updaterros-noetic-diagnostics ros-noetic-diff-drive-controllerros-noetic-dynamic-reconfigure ros-noetic-eigen-conversionsros-noetic-executive-smach ros-noetic-filtersros-noetic-forward-command-controller ros-noetic-gazebo-devros-noetic-gazebo-msgs ros-noetic-gazebo-plugins ros-noetic-gazebo-rosros-noetic-gazebo-ros-control ros-noetic-gazebo-ros-pkgs ros-noetic-gencppros-noetic-geneus ros-noetic-genlisp ros-noetic-genmsg ros-noetic-gennodejsros-noetic-genpy ros-noetic-geometry ros-noetic-geometry-msgsros-noetic-geometry-tutorials ros-noetic-gl-dependencyros-noetic-hardware-interface ros-noetic-image-commonros-noetic-image-geometry ros-noetic-image-pipeline ros-noetic-image-procros-noetic-image-publisher ros-noetic-image-rotateros-noetic-image-transport ros-noetic-image-transport-pluginsros-noetic-image-view ros-noetic-interactive-marker-tutorialsros-noetic-interactive-markers ros-noetic-joint-limits-interfaceros-noetic-joint-state-controller ros-noetic-joint-state-publisherros-noetic-joint-state-publisher-gui ros-noetic-kdl-conversionsros-noetic-kdl-parser ros-noetic-laser-assembler ros-noetic-laser-filtersros-noetic-laser-geometry ros-noetic-laser-pipelineros-noetic-librviz-tutorial ros-noetic-map-msgs ros-noetic-media-exportros-noetic-message-filters ros-noetic-message-generationros-noetic-message-runtime ros-noetic-mk ros-noetic-nav-msgsros-noetic-nodelet ros-noetic-nodelet-core ros-noetic-nodelet-topic-toolsros-noetic-nodelet-tutorial-math ros-noetic-pcl-conversionsros-noetic-pcl-msgs ros-noetic-pcl-ros ros-noetic-perceptionros-noetic-perception-pcl ros-noetic-pluginlibros-noetic-pluginlib-tutorials ros-noetic-polled-cameraros-noetic-position-controllers ros-noetic-python-qt-bindingros-noetic-qt-dotgraph ros-noetic-qt-gui ros-noetic-qt-gui-cppros-noetic-qt-gui-py-common ros-noetic-qwt-dependencyros-noetic-realtime-tools ros-noetic-resource-retriever ros-noetic-robotros-noetic-robot-state-publisher ros-noetic-ros ros-noetic-ros-baseros-noetic-ros-comm ros-noetic-ros-core ros-noetic-ros-environmentros-noetic-ros-tutorials ros-noetic-rosbag ros-noetic-rosbag-migration-ruleros-noetic-rosbag-storage ros-noetic-rosbash ros-noetic-rosboost-cfgros-noetic-rosbuild ros-noetic-rosclean ros-noetic-rosconsoleros-noetic-rosconsole-bridge ros-noetic-roscpp ros-noetic-roscpp-coreros-noetic-roscpp-serialization ros-noetic-roscpp-traitsros-noetic-roscpp-tutorials ros-noetic-roscreate ros-noetic-rosgraphros-noetic-rosgraph-msgs ros-noetic-roslang ros-noetic-roslaunchros-noetic-roslib ros-noetic-roslint ros-noetic-roslisp ros-noetic-roslz4ros-noetic-rosmake ros-noetic-rosmaster ros-noetic-rosmsg ros-noetic-rosnoderos-noetic-rosout ros-noetic-rospack ros-noetic-rosparam ros-noetic-rospyros-noetic-rospy-tutorials ros-noetic-rosservice ros-noetic-rostestros-noetic-rostime ros-noetic-rostopic ros-noetic-rosunit ros-noetic-roswtfros-noetic-rqt-action ros-noetic-rqt-bag ros-noetic-rqt-bag-pluginsros-noetic-rqt-common-plugins ros-noetic-rqt-console ros-noetic-rqt-depros-noetic-rqt-graph ros-noetic-rqt-gui ros-noetic-rqt-gui-cppros-noetic-rqt-gui-py ros-noetic-rqt-image-view ros-noetic-rqt-launchros-noetic-rqt-logger-level ros-noetic-rqt-moveit ros-noetic-rqt-msgros-noetic-rqt-nav-view ros-noetic-rqt-plot ros-noetic-rqt-pose-viewros-noetic-rqt-publisher ros-noetic-rqt-py-common ros-noetic-rqt-py-consoleros-noetic-rqt-reconfigure ros-noetic-rqt-robot-dashboardros-noetic-rqt-robot-monitor ros-noetic-rqt-robot-pluginsros-noetic-rqt-robot-steering ros-noetic-rqt-runtime-monitorros-noetic-rqt-rviz ros-noetic-rqt-service-caller ros-noetic-rqt-shellros-noetic-rqt-srv ros-noetic-rqt-tf-tree ros-noetic-rqt-topros-noetic-rqt-topic ros-noetic-rqt-web ros-noetic-rvizros-noetic-rviz-plugin-tutorials ros-noetic-rviz-python-tutorialros-noetic-self-test ros-noetic-sensor-msgs ros-noetic-shape-msgsros-noetic-simulators ros-noetic-smach ros-noetic-smach-msgsros-noetic-smach-ros ros-noetic-smclib ros-noetic-stage ros-noetic-stage-rosros-noetic-std-msgs ros-noetic-std-srvs ros-noetic-stereo-image-procros-noetic-stereo-msgs ros-noetic-tf ros-noetic-tf-conversionsros-noetic-tf2 ros-noetic-tf2-eigen ros-noetic-tf2-geometry-msgsros-noetic-tf2-kdl ros-noetic-tf2-msgs ros-noetic-tf2-py ros-noetic-tf2-rosros-noetic-theora-image-transport ros-noetic-topic-toolsros-noetic-trajectory-msgs ros-noetic-transmission-interfaceros-noetic-turtle-actionlib ros-noetic-turtle-tf ros-noetic-turtle-tf2ros-noetic-turtlesim ros-noetic-urdf ros-noetic-urdf-parser-pluginros-noetic-urdf-sim-tutorial ros-noetic-urdf-tutorialros-noetic-vision-opencv ros-noetic-visualization-marker-tutorialsros-noetic-visualization-msgs ros-noetic-visualization-tutorialsros-noetic-viz ros-noetic-webkit-dependency ros-noetic-xacroros-noetic-xmlrpcpp ruby ruby-minitest ruby-net-telnet ruby-power-assertruby-test-unit ruby-xmlrpc ruby2.7 rubygems-integration sbcl sdformat9-sdfshiboken2 sip-dev tango-icon-theme tcl tcl-dev tcl-vtk7 tcl8.6 tcl8.6-dev tktk-dev tk8.6 tk8.6-blt2.5 tk8.6-dev ttf-bitstream-vera ttf-dejavu-coreunixodbc-dev uuid-dev vtk7 x11proto-core-dev x11proto-dev x11proto-input-devx11proto-randr-dev x11proto-scrnsaver-dev x11proto-xext-devx11proto-xinerama-dev xorg-sgml-doctools xtrans-dev
The following packages will be upgraded:libglib2.0-0 libglib2.0-bin libgssapi-krb5-2 libk5crypto3 libkrb5-3libkrb5support0 libmysqlclient21 libpoppler-cpp0v5 libpoppler-glib8libpoppler97 libsqlite3-0 libxml2 poppler-utils
13 upgraded, 990 newly installed, 0 to remove and 20 not upgraded.
Need to get 530 MB of archives.
After this operation, 3646 MB of additional disk space will be used.
Get:1 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal/main arm64 fonts-lato all 2.0-2 [2698 kB]
Get:2 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal/main arm64 ignition-tools arm64 1.5.0-1~focal [17. 
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Processing 16 added doc-base files...
Error in `/usr/share/doc-base/bzip2', line 23: all `Format' sections are invalid.
Error in `/usr/share/doc-base/fitsio', line 18: all `Format' sections are invalid.
Error in `/usr/share/doc-base/cfitsio-quick', line 14: all `Format' sections are invalid.
Error in `/usr/share/doc-base/fontconfig-devel', line 17: all `Format' sections are invalid.
Error in `/usr/share/doc-base/libexif-api', line 13: all `Format' sections are invalid.
Error in `/usr/share/doc-base/libfyba-dev', line 12: all `Format' sections are invalid.
Error in `/usr/share/doc-base/cfitsio', line 15: all `Format' sections are invalid.
Error in `/usr/share/doc-base/armadillo', line 12: all `Format' sections are invalid.
Error in `/usr/share/doc-base/fltk1.3-doc', line 13: all `Format' sections are invalid.
Error in `/usr/share/doc-base/libffi', line 18: all `Format' sections are invalid.
Error in `/usr/share/doc-base/comerr-manual', line 12: all `Format' sections are invalid.
Error in `/usr/share/doc-base/po-debconf', line 8: all `Format' sections are invalid.
Error in `/usr/share/doc-base/libusb-1.0-doc', line 16: all `Format' sections are invalid.
Note: `install-docs --verbose --check file_name' may give more details about the above errors.
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[\][34.52s] Get:1 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu focal/main arm64 python3-rosdep all 0.26.0-                                                                                             [\][34.62s] Get:1 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu focal/main arm64 python3-rosdep all 0.26.0-                                                                                             [-][41.36s] CMD Result:success                                               alled.)Run CMD Task:[ls /opt/ros/noetic/setup.bash]
[-][0.01s] CMD Result:success欢迎使用一键配置ROS开发环境,本工具由作者小鱼提供
Run CMD Task:[ls /opt/ros/*/setup.bash]
[-][0.01s] CMD Result:success正在准备配置用户目录:/home/cat/.bashrc
当前系统包含1个ROS,已为您完成启动终端自动激活ROS环境,修改/home/cat/.bashrc可关闭正在准备配置用户目录:/root/.bashrc
当前系统包含1个ROS,已为您完成启动终端自动激活ROS环境,修改/root/.bashrc可关闭恭喜你，安装成功了，再附赠你机器人学习宝藏网站：鱼香社区:https://fishros.org.cn/forum
Run CMD Task:[ls /opt/ros/noetic/setup.bash]
[-][0.01s] CMD Result:success小鱼，黄黄的提示：您安装的是ROS1，可以打开一个新的终端输入roscore测试！
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三、快速体验ros程序

1. 简单测试

重新打开三个终端，分别启动不同的程序。

终端一：启动roscore。

roscore

root@lubancat:/home/cat# roscore
... logging to /root/.ros/log/4d2fb8e6-58b7-11f0-9c31-7a534c29df91/roslaunch-lubancat-682530.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.started roslaunch server http://lubancat:46495/
ros_comm version 1.17.4SUMMARY
========PARAMETERS* /rosdistro: noetic* /rosversion: 1.17.4NODESauto-starting new master
process[master]: started with pid [682646]
ROS_MASTER_URI=http://lubancat:11311/setting /run_id to 4d2fb8e6-58b7-11f0-9c31-7a534c29df91
process[rosout-1]: started with pid [682736]
started core service [/rosout]

终端二：启动小海龟节点。

rosrun turtlesim turtlesim_node

cat@lubancat:~$ rosrun turtlesim turtlesim_node
[INFO] [1751622456.584612440]: Starting turtlesim with node name /turtlesim
[INFO] [1751622456.659130491]: Spawning turtle [turtle1] at x=[5.544445], y=[5.544445], theta=[0.000000]

终端三：启动小海龟运动控制节点。

rosrun turtlesim  turtle_teleop_key

cat@lubancat:~$ rosrun turtlesim  turtle_teleop_key
Reading from keyboard
---------------------------
Use arrow keys to move the turtle. 'q' to quit.

鼠标要在第三个终端，就可以通过按下键盘的 ↑ ↓ ← →键来对小海龟进行控制了。

2. 简单使用usb_cam

ros noetic使用usb摄像头-CSDN博客

1. 安装usb_cam

apt安装usb-cam：

sudo apt-get install ros-noetic-usb-cam

或者源码编译usb_cam：

2. 修改config

查看video设备编号：

root@ok3588:~/catkin_ws# ls /dev/video*
/dev/video0  /dev/video1  /dev/video2  /dev/video3  /dev/video4

有两组双目相机，每组有两个相机，第一组相机（/dev/video1、/dev/video2），第二组相机（/dev/video3、/dev/video4）

修改launch配置文件：

root@ok3588:~/catkin_ws# cat src/usb_cam/launch/myusb_cam-test.launch
<launch><arg name="cam_num" default="2"/><node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" ><param name="cam_num" value="$(arg cam_num)"/><param name="config_file_1" value="$(find usb_cam)/config/usb_cam1.yaml"/><param name="config_file_2" value="$(find usb_cam)/config/usb_cam2.yaml"/><!-- param name="config_file_3" value="$(find usb_cam)/config/usb_cam3.yaml"/ --><!-- param name="config_file_4" value="$(find usb_cam)/config/usb_cam4.yaml"/ --></node>
</launch>

修改config：

root@ok3588:~/catkin_ws# cat src/usb_cam/config/usb_cam1.yaml
%YAML:1.0num_of_eye: 2                      #support: 1 cam;2 cam;#common parameters
video_device: "/dev/video1"
image_width: 1280
image_height: 480
pixel_format: "yuyv"               #possible values: yuyv, uyvy, mjpeg, yuvmono10, rgb24
color_format: "yuv422p"            #possible values: yuv420p, yuv422p
io_method: "mmap"                  #possible values: mmap, read, userptr#image topic
split_image_enbale: 1                      #split stereo or not (only support CV_8UC1)
image_topic: "/head_cam/image_raw"         #if don't split the image
left_image_topic: "/left_cam/image_raw1"
right_image_topic: "/right_cam/image_raw1"
swap_eyes_enbale: 1                        #for some stereo,we need to swap the eyes#camera info
camera_name: "head_cam"
camera_frame_id: "head_cam"
#calib (disable)#create Services
service_start_name: "start_capture1"
service_stop_name: "stop_capture1"#save image
save_image_enbale: 0
save_path: "/home/yoyo/musb_ws/src/usb_cam/output/1"

3. 配置虚拟机与rk3588同一网段

虚拟机与rk3588在同一网段：192.168.137.x。

# 打开rk3588的 ~/.bashrc 文件
gedit ~/.bashrc
export ROS_HOSTNAME=rk3588IP
export ROS_MASTER_URI=http://rk3588IP:11311# 打开虚拟机的 ~/.bashrc 文件
gedit ~/.bashrc
export ROS_HOSTNAME=虚拟机IP
export ROS_MASTER_URI=http://rk3588IP:11311
source ~/.bashrc

在rk3588上，修改 ~/.bashrc 配置：

export ROS_HOSTNAME=192.168.137.10
export ROS_MASTER_URI=http://192.168.137.10:11311

在虚拟机上，修改 ~/./bashrc 配置：

export ROS_HOSTNAME=192.168.137.32
export ROS_MASTER_URI=http://192.168.137.10:11311

4. 启动usb_cam

在rk3588上启动roscore，并启动usb_cam：

cd catkin_ws
source devel/setup.bash
roslaunch usb_cam myusb_cam-test.launch

在rk3588上启动usb_cam节点：

roslaunch usb_cam myusb_cam-test.launch

5. 通过rviz查看视频

在虚拟机上，启动rviz：

rosrun rviz rviz

rviz查看视频：

四、FAQ

Q：MoTTY X11 proxy: Authorisation not recognised

cat@lubancat:~$ rosrun turtlesim turtlesim_node
MoTTY X11 proxy: Authorisation not recognisedIn case you are trying to start a graphical application with "sudo", read this article in order to avoid this issue:
https://blog.mobatek.net/post/how-to-keep-X11-display-after-su-or-sudo/qt.qpa.xcb: could not connect to display localhost:13.0
qt.qpa.plugin: Could not load the Qt platform plugin "xcb" in "" even though it was found.
This application failed to start because no Qt platform plugin could be initialized. Reinstalling the application may fix this problem.Available platform plugins are: eglfs, linuxfb, minimal, minimalegl, offscreen, vnc, xcb.Aborted

错误原因：当前终端具有sudo权限，导致无法显示。

解决方法：重新打开终端运行即可。

Q：WARNING: package "usb_cam" should not depend on metapackage "image_transport_plugins" but on its packages instead

WARNING: package "usb_cam" should not depend on metapackage "image_transport_plugins" but on its packages instead
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 1 packages in topological order:
-- ~~  - usb_cam (plain cmake)
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
CMake Error at /opt/ros/noetic/share/catkin/cmake/catkin_workspace.cmake:100 (message):This workspace contains non-catkin packages in it, and catkin cannot builda non-homogeneous workspace without isolation.  Try the'catkin_make_isolated' command instead.
Call Stack (most recent call first):CMakeLists.txt:69 (catkin_workspace)-- Configuring incomplete, errors occurred!
See also "/home/cat/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/cat/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

解决方法：

cd /path/to/colcon_ws
rosdep install --from-paths src --ignore-src -y

Q：ERROR: your rosdep installation has not been initialized yet. Please run:

cat@lubancat:~/catkin_ws$ rosdep install --from-paths src --ignore-src -yERROR: your rosdep installation has not been initialized yet.  Please run:sudo rosdep initrosdep update

解决方法：

sudo rosdep init
rosdep update

Q：[usb_cam-1] process has died [pid 5761, exit code 1, cmd /root/catkin_ws/devel/lib/usb_cam/usb_cam_node __name:=usb_cam __log:

root@ok3588:~/catkin_ws# roslaunch usb_cam myusb_cam-test.launch
... logging to /root/.ros/log/e63953ac-5e30-11f0-a631-425fa8b3c0d5/roslaunch-ok3588-5747.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.started roslaunch server http://192.168.137.10:41925/SUMMARY
========PARAMETERS* /rosdistro: noetic* /rosversion: 1.17.0* /usb_cam/cam_num: 2* /usb_cam/config_file_1: /root/catkin_ws/s...* /usb_cam/config_file_2: /root/catkin_ws/s...NODES/usb_cam (usb_cam/usb_cam_node)ROS_MASTER_URI=http://192.168.137.10:11311process[usb_cam-1]: started with pid [5761]
[ INFO] [1752222465.475200909]: Starting 'head_cam' (/dev/video1) at 1280x480 via mmap (yuyv) at 30 FPS
[ WARN] [1752222465.704213497]: unknown control 'white_balance_temperature_auto'[ WARN] [1752222465.715640192]: unknown control 'focus_auto'[ INFO] [1752222465.857096843]: Starting 'down_cam' (/dev/video3) at 1280x480 via mmap (yuyv) at 30 FPS
[ WARN] [1752222466.013432276]: unknown control 'white_balance_temperature_auto'[ WARN] [1752222466.023990824]: unknown control 'focus_auto'[ERROR] [1752222471.103697777]: select timeout
[usb_cam-1] process has died [pid 5761, exit code 1, cmd /root/catkin_ws/devel/lib/usb_cam/usb_cam_node __name:=usb_cam __log:=/root/.ros/log/e63953ac-5e30-11f0-a631-425fa8b3c0d5/usb_cam-1.log].
log file: /root/.ros/log/e63953ac-5e30-11f0-a631-425fa8b3c0d5/usb_cam-1*.log

错误原因：未知。

解决方法：多次重启roslaunch或者重启roscore，并关闭虚拟机的rviz程序。

Q：roscore cannot run as another roscore/master is already running.

root@ok3588:~/catkin_ws# roscore
... logging to /root/.ros/log/101b488e-6056-11f0-863e-425fa8b3c0d5/roslaunch-ok3588-2713.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.started roslaunch server http://192.168.137.10:33581/
ros_comm version 1.17.0SUMMARY
========PARAMETERS* /rosdistro: noetic* /rosversion: 1.17.0NODESRLException: roscore cannot run as another roscore/master is already running.
Please kill other roscore/master processes before relaunching.
The ROS_MASTER_URI is http://192.168.137.10:11311/
The traceback for the exception was written to the log file

错误原因：由于ssh连接断开，roscore退至后台继续运行。

解决方法：杀死roscore进程，并重新启动。

# 查找进程
ps -aux | grep roscore
ps -aux | grep ros# 杀死进程
kill -9 <PID>

Q：usb_cam: Cannot locate rosdep definition for [builtin_interfaces]

cat@lubancat:~/catkin_ws$ rosdep install --from-paths src --ignore-src -y
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
usb_cam: Cannot locate rosdep definition for [builtin_interfaces]

Q：Note: install-docs --verbose --check file_name' may give more details about the above errors.

Processing 16 added doc-base files...
Error in `/usr/share/doc-base/bzip2', line 23: all `Format' sections are invalid.
Error in `/usr/share/doc-base/fitsio', line 18: all `Format' sections are invalid.
Error in `/usr/share/doc-base/cfitsio-quick', line 14: all `Format' sections are invalid.
Error in `/usr/share/doc-base/fontconfig-devel', line 17: all `Format' sections are invalid.
Error in `/usr/share/doc-base/libexif-api', line 13: all `Format' sections are invalid.
Error in `/usr/share/doc-base/libfyba-dev', line 12: all `Format' sections are invalid.
Error in `/usr/share/doc-base/cfitsio', line 15: all `Format' sections are invalid.
Error in `/usr/share/doc-base/armadillo', line 12: all `Format' sections are invalid.
Error in `/usr/share/doc-base/fltk1.3-doc', line 13: all `Format' sections are invalid.
Error in `/usr/share/doc-base/libffi', line 18: all `Format' sections are invalid.
Error in `/usr/share/doc-base/comerr-manual', line 12: all `Format' sections are invalid.
Error in `/usr/share/doc-base/po-debconf', line 8: all `Format' sections are invalid.
Error in `/usr/share/doc-base/libusb-1.0-doc', line 16: all `Format' sections are invalid.
Note: `install-docs --verbose --check file_name' may give more details about the above errors.