设置软件源
http://wiki.ros.org/ROS/Installation/UbuntuMirrors#USTC
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
设置key
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
安装ROS
这里选择功能最全的desktop-full，包含ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators and 2D/3D perception。它有约1000个软件包，需要约2.5G空间，安装时间20分钟左右。
sudo apt updatesudo apt install ros-melodic-desktop-full
环境设置
将ROS环境变量在每次启动新shell时自动添加到bash会话中，后面使用会很方便
echo "source /opt/ros/melodic/setup.bash">> ~/.bashrcsource ~/.bashrc
安装其他工具
这里可以安装一些实用工具，比如rosinstall和rosdep，后期手动安装ros软件包时会用到。
sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
rosdep需要初始化一下
sudo rosdep initrosdep update

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

source ~/.bashrc

ubuntu18.04安装ROS Melodic（最详细配置）-CSDN博客

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

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

sudo apt-get install ros-melodic-rqt*