[人工智能]ros2安装sudo rosdep init失败解决方法

参考网站：sudo rosdep init报错raw.githubusercontent.com被down (qq.com)

使用Ubuntu2004安装ROS foxy时遇到了报错：

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.

这个问题困扰了很久，所以在此记录下自己的解决方法。在网上其他的解决方案中也有通过修改文件成功的，跟参考网址解决方法的区别在于foxy使用的是python3-rosdep，

?所以需要修改的文件位于/usr/lib/python3/dist-packages中，我的解决步骤如下：

1.在ubuntu里面打开浏览器去https://github.com/ros/rosdistro，把这个项目下载到/tmp下面，压缩包名为rosdistro-master.zip；

2.将这个压缩包解压到/tmp下面，解压后的文件夹为rosdistro-master；

3.需要修改的文件如下：

/tmp/rosdistro-master/rosdep/source.list.d/20-default.list

/usr/lib/python3/dist-packages/rosdep2/sources_list.py
/usr/lib/python3/dist-packages/rosdep2/rep3.py
/usr/lib/python3/dist-packages/rosdistro/__init__.py

4.需要修改的文件内容与参考网页一样，如下：

4.1 输入sudo gedit /tmp/rosdistro-master/rosdep/source.list.d/20-default.list，将其内容改为如下所示：

# os-specific listings first
yaml file:///tmp/rosdistro-master/rosdep/osx-homebrew.yaml osx

# generic
yaml file:///tmp/rosdistro-master/rosdep/base.yaml
yaml file:///tmp/rosdistro-master/rosdep/python.yaml
yaml file:///tmp/rosdistro-master/rosdep/ruby.yaml
gbpdistro file:///tmp/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

4.2?输入命令sudo gedit /usr/lib/python3/dist-packages/rosdep2/sources_list.py，然后将其中的文件进行注释替换。

#DEFAULT_SOURCES_LIST_URL = 'https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list'
DEFAULT_SOURCES_LIST_URL = 'file:///tmp/rosdistro-master/rosdep/sources.list.d/20-default.list'

4.3?输入命令 sudo gedit /usr/lib/python3/dist-packages/rosdep2/rep3.py，然后将其中的文件进行注释替换。

#REP3_TARGETS_URL = 'https://raw.githubusercontent.com/ros/rosdistro/master/releases/targets.yaml'
REP3_TARGETS_URL = 'file:///tmp/rosdistro-master/releases/targets.yaml'

4.4?sudo gedit /usr/lib/python3/dist-packages/rosdistro/__init__.py，，然后将其中的文件进行注释替换。

#DEFAULT_INDEX_URL = 'https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml'
DEFAULT_INDEX_URL = 'file:///tmp/rosdistro-master/index-v4.yaml'

5.最后执行下列命令：

sudo rosdep init
rosdep update