在樹莓派自帶系統Raspbian中安裝ros kinetic以及turtlebot依賴包

在樹莓派自帶系統Raspbian中安裝ros kinetic以及turtlebot依賴包

書接上文，上文提到了在樹莓派自帶系統Raspbian中安裝ros kinetic的教程安裝教程，但在安裝程序中遇到了一些問題，在這里記錄一下，
如何使用一根USB線便在電腦上控制樹莓派在我的另一篇博客有寫，可以前去查看，

1.引導依賴項缺失問題

在上面鏈接中，執行到1.2安裝引導依賴項指令時，會報錯，我的錯誤如下：

You might want to run 'apt --fix-broken install' to correct these.
The following packages have unmet dependencies:
 python-rosdep-modules : Depends: python-rospkg-modules (>= 1.1.10) but it is not going to be installed
                         Depends: python-catkin-pkg-modules (>= 0.4.0) but it is not going to be installed
                         Depends: python-rosdistro-modules (>= 0.7.5) but it is not going to be installed
 python-rosdistro : Depends: python-rosdistro-modules (>= 0.8.3) but it is not going to be installed
E: Unmet dependencies. Try 'apt --fix-broken install' with no packages (or specify a solution).

根據提示，輸入以下指令：

$ sudo apt --fix-broken install

后，又出現了以下錯誤：

dpkg: error processing archive /var/cache/apt/archives/python-catkin-pkg-modules_0.4.23-1_all.deb (--unpack):
 trying to overwrite '/usr/lib/python2.7/dist-packages/catkin_pkg/__init__.py', which is also in package python-catkin-pkg 0.4.10-1
Preparing to unpack .../python-rospkg-modules_1.2.8-1_all.deb ...
Unpacking python-rospkg-modules (1.2.8-1) ...
dpkg: error processing archive /var/cache/apt/archives/python-rospkg-modules_1.2.8-1_all.deb (--unpack):
 trying to overwrite '/usr/lib/python2.7/dist-packages/rospkg/__init__.py', which is also in package python-rospkg 1.1.7-1
Errors were encountered while processing:
 /var/cache/apt/archives/python-catkin-pkg-modules_0.4.23-1_all.deb
 /var/cache/apt/archives/python-rospkg-modules_1.2.8-1_all.deb
E: Sub-process /usr/bin/dpkg returned an error code (1)

能夠看出是兩個問題，分別執行下面的指令即可：

$ sudo dpkg -i --force-overwrite /var/cache/apt/archives/python-catkin-pkg-modules_0.4.23-1_all.deb
$ sudo apt-get -f install
$ sudo dpkg -i --force-overwrite /var/cache/apt/archives/python-rospkg-modules_1.2.8-1_all.deb
$ sudo apt-get -f install

PS：可能module的號不同，比如我缺的是catkin的0.4.23-1和rospkg的1.2.8-1，大家根據錯誤提示自己修改一下即可，
然后輸入以下指令便不再報錯：

$ sudo apt --fix-broken install

再用下面的指令更新一下rosdep：

$ sudo rosdep update

然后再運行教程中的1.2安裝引導依賴項指令即可：

$ sudo apt-get install -y python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential cmake

若網路不好，就多試幾遍，

2.初始化時報錯DistributionNotFound

在執行教程中步驟1.3中指令：

$ sudo rosdep init

出現如下錯誤：

DistributionNotFound: The 'rospkg>=1.1.10' distribution was not found and is required by rosdep

重新安裝 Python版本的 rosdep的即可

sudo apt install python3-rosdep

安裝完之后繼續執行init指令，但是有報錯：

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.

此時需要在/etc/hosts檔案末尾添加上一個網址：

151.101.84.133 raw.githubusercontent.com

用什么方式添加都可以，包括用gedit、vim，或者直接在圖形化界面打開這個檔案進行更改，這里列出用gedit和vim添加的方法，任選其一即可：
gedit添加網址：

sudo gedit /etc/hosts

然后在末尾添加網址，

vim添加網址：

sudo vi /etc/hosts

然后按i進入vim的insert模式，然后把游標挪到末尾，復制一下上面的網址，按shift+ins鍵（在小鍵盤旁邊），然后按Ctrl+C，然后輸入:wq即可，
然后再進行1.3初始化中的兩條指令即可：

$ sudo rosdep init
$ rosdep update

此時如果報如下錯誤：

ERROR: default sources list file already exists:
        /etc/ros/rosdep/sources.list.d/20-default.list
Please delete if you wish to re-initialize

則使用如下指令將其刪掉即可：

sudo rm /etc/ros/rosdep/sources.list.d/20-default.list

然后再執行如下指令便沒有問題了

$ sudo rosdep init
$ rosdep update