在加载 ros-melodic-desktop-full 时遇到的错

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我是靠谱客的博主懵懂水杯，最近开发中收集的这篇文章主要介绍在加载 ros-melodic-desktop-full 时遇到的错，觉得挺不错的，现在分享给大家，希望可以做个参考。

概述

Ubuntu 用的是18.04, gazebo 装的是11.

在加载 ros-melodic-desktop-full 时出现一些中断, 显示:
The following packages have unmet dependencies:
ros-melodic-desktop-full : Depends: ros-melodic-simulators but it is not going to be installed
Depends: ros-melodic-urdf-sim-tutorial but it is not going to be installed
E: Unable to correct problems, you have held broken packages.

解决办法:
先试试更新新的镜像:

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://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

sudo apt-get update

不成功, 继续找问题,

sudo apt install aptitude

sudo aptitude install ros-melodic-desktop-full

漫长的等待后查找出了以下问题,

The following actions will resolve these dependencies:

      Remove the following packages:                                            
1)      ros-melodic-desktop [1.4.1-0bionic.20210219.183826 (bionic, now)]       
2)      ros-melodic-perception [1.4.1-0bionic.20210206.034851 (bionic, now)]    
3)      ros-melodic-robot [1.4.1-0bionic.20210112.194420 (bionic, now)]         
4)      ros-melodic-rqt-common-plugins [0.4.8-0bionic.20210219.183458 (bionic, n
5)      ros-melodic-rqt-robot-plugins [0.5.7-0bionic.20210219.183706 (bionic, no
6)      ros-melodic-rqt-robot-steering [0.5.10-1bionic.20210112.175500 (bionic, 
7)      ros-melodic-rviz [1.13.15-1bionic.20210206.031829 (bionic, now)]        
8)      ros-melodic-stage-ros [1.8.0-0bionic.20210112.190228 (bionic, now)]     
9)      ros-melodic-urdf-tutorial [0.4.0-0bionic.20210206.035955 (bionic, now)] 

      Keep the following packages at their current version:                     
10)     gazebo9 [Not Installed]                                                 
11)     gazebo9-common [Not Installed]                                          
12)     gazebo9-plugin-base [Not Installed]                                     
13)     libgazebo9 [Not Installed]                                              
14)     libgazebo9-dev [Not Installed]                                          
15)     ros-melodic-desktop-full [Not Installed]                                
16)     ros-melodic-forward-command-controller [0.17.2-1bionic.20210120.180015 (
17)     ros-melodic-gazebo-dev [Not Installed]                                  
18)     ros-melodic-gazebo-msgs [Not Installed]                                 
19)     ros-melodic-gazebo-plugins [Not Installed]                              
20)     ros-melodic-gazebo-ros [Not Installed]                                  
21)     ros-melodic-gazebo-ros-control [Not Installed]                          
22)     ros-melodic-gazebo-ros-pkgs [Not Installed]                             
23)     ros-melodic-kdl-parser [1.13.1-0bionic.20201017.084826 (bionic, now)]   
24)     ros-melodic-orocos-kdl [1.4.0-0bionic.20201017.031444 (bionic, now)]    
25)     ros-melodic-simulators [Not Installed]                                  
26)     ros-melodic-tf2-kdl [0.6.5-0bionic.20210112.183939 (bionic, now)]       
27)     ros-melodic-urdf-sim-tutorial [Not Installed]

系统提示的问题接受就好了,(我不知道为什么,)

后面会有很多Removing 起头的代码,不要慌继续等, 直到指令执行完. 接着再试一遍

sudo apt install ros-melodic-desktop-full

还是无法安装,

The following packages have unmet dependencies:
 ros-melodic-desktop-full : Depends: ros-melodic-simulators but it is not going to be installed
                            Depends: ros-melodic-urdf-sim-tutorial but it is not going to be installed
E: Unable to correct problems, you have held broken packages.

两个问题, os-melodic-simulators 和 ros-melodic-urdf-sim-tutorial, 于是手动安装:

sudo aptitude install ros-melodic-simulators

又是一个长时间的等待, 直到程序完成.
再换个相同含义的代码测试一下,看装成功了没

sudo apt install ros-melodic-simulators

这次成功了,
再试试安装 ros-melodic-desktop-full:

sudo apt install ros-melodic-desktop-full

终于进入漫长的安装期,装完后升级一下,

rosdep update

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

sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential

装包具体会怎么用也不是非常明白,反正一路都在排bug, 记录一下自己遇到的bug,万一想重装ubuntu呢,这些问题还会再出现的.