Linux Mint19.3是基於ubuntu的一個髮型版本，PX4官網的給的ROS安裝環境是在ubuntu中的自動安裝指令碼。但是，本人覺得ubuntu系統比較笨重，所以一直用Mint。也就得在官網的安裝指令碼上進行改動才能 纔能安裝成功。
#!/bin/bash
## Bash script for setting up ROS Melodic (with Gazebo 9) development environment for PX4 on Ubuntu LTS (18.04).
## It installs the common dependencies for all targets (including Qt Creator)
##
## Installs:
## - Common dependencies libraries and tools as defined in `ubuntu_sim_common_deps.sh`
## - ROS Melodic (including Gazebo9)
## - MAVROS
if [[ $(lsb_release -sc) == *"xenial"* ]]; then
echo "OS version detected as $(lsb_release -sc) (16.04)."
echo "ROS Melodic requires at least Ubuntu 18.04."
echo "Exiting ...."
return 1;
fi
echo "Downloading dependent script 'ubuntu_sim_common_deps.sh'"
# Source the ubuntu_sim_common_deps.sh script directly from github
common_deps=$(wget https://raw.githubusercontent.com/PX4/Devguide/master/build_scripts/ubuntu_sim_common_deps.sh -O -)
wget_return_code=$?
# If there was an error downloading the dependent script, we must warn the user and exit at this point.
if [[ $wget_return_code -ne 0 ]]; then echo "Error downloading 'ubuntu_sim_common_deps.sh'. Sorry but I cannot proceed further :("; exit 1; fi
# Otherwise source the downloaded script.
. <(echo "${common_deps}")
# ROS Melodic
## Gazebo simulator dependencies
sudo apt-get install protobuf-compiler libeigen3-dev libopencv-dev -y
## ROS Gazebo: http://wiki.ros.org/melodic/Installation/Ubuntu
## Setup keys
#sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
#sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo sh -c 'echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ bionic main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
## For keyserver connection problems substitute hkp://pgp.mit.edu:80 or hkp://keyserver.ubuntu.com:80 above.
sudo apt-get update
## Get ROS/Gazebo
sudo apt install ros-melodic-desktop-full -y
## Initialize rosdep
sudo rosdep init
rosdep update
## Setup environment variables
rossource="source /opt/ros/melodic/setup.bash"
if grep -Fxq "$rossource" ~/.bashrc; then echo ROS setup.bash already in .bashrc;
else echo "$rossource" >> ~/.bashrc; fi
eval $rossource
## Install rosinstall and other dependencies
sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential -y
# MAVROS: https://dev.px4.io/en/ros/mavros_installation.html
## Install dependencies
sudo apt-get install python-catkin-tools python-rosinstall-generator -y
## Create catkin workspace
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin init
wstool init src
## Install MAVLink
###we use the Kinetic reference for all ROS distros as it's not distro-specific and up to date
rosinstall_generator --rosdistro kinetic mavlink | tee /tmp/mavros.rosinstall
## Build MAVROS
### Get source (upstream - released)
rosinstall_generator --rosdistro melodic --upstream mavros | tee -a /tmp/mavros.rosinstall
### Setup workspace & install deps
wstool merge -t src /tmp/mavros.rosinstall
wstool update -t src
#if ! rosdep install --rosdistro melodic--os=ubuntu:bionic --from-paths src --ignore-src -y; then
if ! rosdep install --from-paths src --ignore-src --rosdistro melodic -y --os ubuntu:bionic; then
# (Use echo to trim leading/trailing whitespaces from the unsupported OS name
unsupported_os=$(echo $(rosdep db 2>&1| grep Unsupported | awk -F: '{print $2}'))
rosdep install --from-paths src --ignore-src --rosdistro melodic -y --os ubuntu:bionic
fi
if [[ ! -z $unsupported_os ]]; then
>&2 echo -e "\033[31mYour OS ($unsupported_os) is unsupported. Assumed an Ubuntu 18.04 installation,"
>&2 echo -e "and continued with the installation, but if things are not working as"
>&2 echo -e "expected you have been warned."
fi
#Install geographiclib
sudo apt install geographiclib-tools -y
echo "Downloading dependent script 'install_geographiclib_datasets.sh'"
# Source the install_geographiclib_datasets.sh script directly from github
install_geo=$(wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh -O -)
wget_return_code=$?
# If there was an error downloading the dependent script, we must warn the user and exit at this point.
if [[ $wget_return_code -ne 0 ]]; then echo "Error downloading 'install_geographiclib_datasets.sh'. Sorry but I cannot proceed further :("; exit 1; fi
# Otherwise source the downloaded script.
sudo bash -c "$install_geo"
## Build!
catkin build
## Re-source environment to reflect new packages/build environment
catkin_ws_source="source ~/catkin_ws/devel/setup.bash"
if grep -Fxq "$catkin_ws_source" ~/.bashrc; then echo ROS catkin_ws setup.bash already in .bashrc;
else echo "$catkin_ws_source" >> ~/.bashrc; fi
eval $catkin_ws_source
該指令碼只是將安裝的步驟些成了指令碼自動執行，每個步驟都可以自己單獨執行。
由於時間改了快3個月了，具體的改動在哪也忘記了，如果需要知道可以跟官網的進行對比。主要是修改了Mint19.3的發行版本名稱的問題。
建議安裝的時候能翻牆，如果沒有，執行到對應的步驟有問題時，得把當前安裝的那個包刪除乾淨再從新安裝，要不然安裝會不成功。