树莓派上rosdep update的问题解决

ROS安装过程中，常常会出现rosdep update出错的问题。ROS安装过程中，常常会出现rosdep update出错的问题。参照大神博客完成。

我的系统是ubuntu20.04 mate，python3，按照上面大佬的安装，整理下自己的修改过程，方便后面用到。

1、下载rosdistro到本地

git clone https://github.com/ros/rosdistro.git

记录下此时文件的路径：

pwd

/home/pacecat/rosdistro， 后面要用到的路径名称

2、修改文件

• rep3.py文件修改

cd /usr/lib/python3/dist-packages/rosdep2/
sudo vim rep3.py

找到关键字：REP3_TARGETS_URL，替换修改如下：

#REP3_TARGETS_URL = ‘https://raw.githubusercontent.com/ros/rosdistro/master/releases/targets.yaml’ 
REP3_TARGETS_URL = 'file:///home/pacecat/rosdistro/releases/targets.yaml'

• init.py文件修改

cd /usr/lib/python3/dist-packages/rosdistro
sudo vim __init__.py

找到关键字：DEFAULT_INDEX_URL，替换修改如下:

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

• 20-default.list文件修改

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

修改如下：

# os-specific listings first
#yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx
yaml file:///home/pacecat/rosdistro/rosdep/osx-homebrew.yaml osx

# generic
#yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
yaml file:///home/pacecat/rosdistro/rosdep/base.yaml
#yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
yaml file:///home/pacecat/rosdistro/rosdep/python.yaml
#yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
yaml file:///home/pacecat/rosdistro/rosdep/ruby.yaml
#gbpdistro https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml fuerte
gbpdistro file:///home/pacecat/rosdistro/releases/fuerte.yaml fuerte

# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead

3、更新

rosdep update

2022-06-28更新

有网友在网上自制了一个插件，是6-rosdep，运行sudo pip3 install 6-rosdep之后（前提是有python3的这个pip，没有的话，可以sudo apt-get install python3-pip）
运行sudo 6-rosdep
再进行sudo rosdep init
rosdep update就好了