linux - 安装 ROS Melodic Ubuntu 21.10 时遇到问题

Question

我正在尝试使用 wiki.ros.org 上的说明安装 ROS Melodic，但偶然发现了一些问题。
系统软件信息:
操作系统:Kubuntu 21.10
KDE 等 ionic 版本:5.22.5
KDE 框架版本:5.86.0
Qt 版本:5.15.2
内核版本:5.13.0-19-generic(64 位)
图形平台:X11
问题
我首先按照以下步骤操作
http://wiki.ros.org/melodic/Installation/Ubuntu
然后按照 https://varhowto.com/install-ros-melodic-ubuntu-18-04/#Step_1_%E2%80%94_Install_ROS_Melodic_repo 的步骤进行操作, 都没有成功的结果。
运行时sudo apt update我正进入(状态:

Hit:1 http://archive.ubuntu.com/ubuntu impish InRelease
Get:2 http://archive.ubuntu.com/ubuntu impish-updates InRelease [110 kB]
Ign:3 http://packages.ros.org/ros/ubuntu impish InRelease          
Get:4 http://archive.ubuntu.com/ubuntu impish-backports InRelease [101 kB]
Hit:5 http://packages.ros.org/ros/ubuntu bionic InRelease
Get:6 http://archive.ubuntu.com/ubuntu impish-security InRelease [110 kB]
Err:7 http://packages.ros.org/ros/ubuntu impish Release  
  404  Not Found [IP: 140.211.166.134 80]
Reading package lists... Done
E: The repository 'http://packages.ros.org/ros/ubuntu impish Release' does not have a Release file.
N: Updating from such a repository can't be done securely, and is therefore disabled by default.
N: See apt-secure(8) manpage for repository creation and user configuration details.

 

尝试使用此行安装后:

sudo apt install ros-melodic-desktop-full

我正进入(状态:

Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
Selected version '1.4.1-0bionic.20211104.025752' (ROS bionic:bionic [amd64]) for 'ros-melodic-desktop-full'
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:

The following packages have unmet dependencies.
 python-rospkg : Depends: python-yaml but it is not installable
 python-rospkg-modules : Depends: python-yaml but it is not installable
                         Depends: python-catkin-pkg-modules but it is not going to be installed
 ros-melodic-actionlib : Depends: libboost-system1.65.1 but it is not installable
                         Depends: libboost-thread1.65.1 but it is not installable
 ros-melodic-actionlib-tutorials : Depends: libboost-system1.65.1 but it is not installable
                                   Depends: libboost-thread1.65.1 but it is not installable
 ros-melodic-bondcpp : Depends: libboost-system1.65.1 but it is not installable
                       Depends: libboost-thread1.65.1 but it is not installable
 ros-melodic-camera-calibration-parsers : Depends: libboost-filesystem1.65.1 but it is not installable
                                          Depends: libboost-python1.65.1 but it is not installable
                                          Depends: libboost-system1.65.1 but it is not installable
                                          Depends: libyaml-cpp0.5v5 but it is not installable
 ros-melodic-camera-info-manager : Depends: libboost-system1.65.1 but it is not installable
 ros-melodic-catkin : Depends: python-catkin-pkg (> 0.4.3) but it is not going to be installed
                      Depends: python-empy but it is not installable
                      Depends: python-nose but it is not installable
 ros-melodic-class-loader : Depends: libboost-system1.65.1 but it is not installable
                            Depends: libpocofoundation50 but it is not installable
 ros-melodic-compressed-depth-image-transport : Depends: libboost-system1.65.1 but it is not installable
                                                Depends: libopencv-core3.2 but it is not installable
                                                Depends: libopencv-imgcodecs3.2 but it is not installable
 ros-melodic-compressed-image-transport : Depends: libboost-system1.65.1 but it is not installable
                                          Depends: libopencv-core3.2 but it is not installable
                                          Depends: libopencv-imgcodecs3.2 but it is not installable
                                          Depends: libopencv-imgproc3.2 but it is not installable
 ros-melodic-controller-manager : Depends: libboost-filesystem1.65.1 but it is not installable
                                  Depends: libboost-system1.65.1 but it is not installable
                                  Depends: libtinyxml2-6 (>= 5.0.0) but it is not installable
 ros-melodic-cv-bridge : Depends: libboost-python1.65.1 but it is not installable
                         Depends: libboost-regex1.65.1 but it is not installable
                         Depends: libopencv-core3.2 but it is not installable
                         Depends: libopencv-imgcodecs3.2 but it is not installable
                         Depends: libopencv-imgproc3.2 but it is not installable
                         Depends: python-opencv but it is not installable
 ros-melodic-depth-image-proc : Depends: libboost-system1.65.1 but it is not installable
                                Depends: libopencv-core3.2 but it is not installable
                                Depends: libopencv-imgproc3.2 but it is not installable
 ros-melodic-diagnostic-aggregator : Depends: libboost-filesystem1.65.1 but it is not installable
                                     Depends: libboost-regex1.65.1 but it is not installable
                                     Depends: libboost-system1.65.1 but it is not installable
                                     Depends: libtinyxml2-6 (>= 5.0.0) but it is not installable
 ros-melodic-diagnostic-common-diagnostics : Depends: python-psutil but it is not installable
 ros-melodic-diff-drive-controller : Depends: libboost-system1.65.1 but it is not installable
 ros-melodic-dynamic-reconfigure : Depends: libboost-system1.65.1 but it is not installable
 ros-melodic-filters : Depends: libboost-system1.65.1 but it is not installable
 ros-melodic-gazebo-plugins : Depends: libboost-system1.65.1 but it is not installable
                              Depends: libboost-thread1.65.1 but it is not installable
                              Depends: libgazebo9 but it is not going to be installed
                              Depends: libignition-common but it is not installable
                              Depends: libignition-math4 but it is not installable
                              Depends: libopencv-core3.2 but it is not installable
                              Depends: libopencv-imgproc3.2 but it is not installable
                              Depends: libprotobuf10 but it is not installable
                              Depends: libsdformat6 but it is not installable
 ros-melodic-gazebo-ros : Depends: libboost-system1.65.1 but it is not installable
                          Depends: libboost-thread1.65.1 but it is not installable
                          Depends: libgazebo9 but it is not going to be installed
                          Depends: libignition-common but it is not installable
                          Depends: libprotobuf10 but it is not installable
                          Depends: libsdformat6 but it is not installable
 ros-melodic-gazebo-ros-control : Depends: libboost-filesystem1.65.1 but it is not installable
                                  Depends: libboost-system1.65.1 but it is not installable
                                  Depends: libboost-thread1.65.1 but it is not installable
                                  Depends: libgazebo9 but it is not going to be installed
                                  Depends: libignition-common but it is not installable
                                  Depends: libignition-math4 but it is not installable
                                  Depends: libsdformat6 but it is not installable
                                  Depends: libtinyxml2-6 (>= 5.0.0) but it is not installable
                                  Depends: ros-melodic-control-toolbox but it is not going to be installed
                                  Depends: ros-melodic-transmission-interface but it is not going to be installed
 ros-melodic-genmsg : Depends: python-empy but it is not installable
 ros-melodic-genpy : Depends: python-yaml but it is not installable
 ros-melodic-image-geometry : Depends: libopencv-calib3d3.2 but it is not installable
                              Depends: libopencv-core3.2 but it is not installable
                              Depends: libopencv-imgproc3.2 but it is not installable
 ros-melodic-image-proc : Depends: libboost-system1.65.1 but it is not installable
                          Depends: libopencv-core3.2 but it is not installable
                          Depends: libopencv-imgproc3.2 but it is not installable
 ros-melodic-image-publisher : Depends: libboost-system1.65.1 but it is not installable
                               Depends: libopencv-core3.2 but it is not installable
                               Depends: libopencv-imgcodecs3.2 but it is not installable
                               Depends: libopencv-videoio3.2 but it is not installable
 ros-melodic-image-rotate : Depends: libboost-system1.65.1 but it is not installable
                            Depends: libopencv-core3.2 but it is not installable
                            Depends: libopencv-imgproc3.2 but it is not installable
 ros-melodic-image-transport : Depends: libboost-filesystem1.65.1 but it is not installable
                               Depends: libboost-system1.65.1 but it is not installable
                               Depends: libtinyxml2-6 (>= 5.0.0) but it is not installable
 ros-melodic-image-view : Depends: libboost-system1.65.1 but it is not installable
                          Depends: libboost-thread1.65.1 but it is not installable
                          Depends: libopencv-core3.2 but it is not installable
                          Depends: libopencv-highgui3.2 but it is not installable
                          Depends: libopencv-imgcodecs3.2 but it is not installable
                          Depends: libopencv-videoio3.2 but it is not installable
 ros-melodic-interactive-marker-tutorials : Depends: libboost-system1.65.1 but it is not installable
                                            Depends: ros-melodic-interactive-markers but it is not going to be installed
 ros-melodic-joint-state-controller : Depends: libboost-system1.65.1 but it is not installable
 ros-melodic-kdl-parser : Depends: libtinyxml2-6 (>= 5.0.0) but it is not installable
 ros-melodic-laser-assembler : Depends: libboost-filesystem1.65.1 but it is not installable
                               Depends: libboost-system1.65.1 but it is not installable
                               Depends: libtinyxml2-6 (>= 5.0.0) but it is not installable
 ros-melodic-laser-filters : Depends: libboost-filesystem1.65.1 but it is not installable
                             Depends: libboost-system1.65.1 but it is not installable
                             Depends: libtinyxml2-6 (>= 5.0.0) but it is not installable
 ros-melodic-laser-geometry : Depends: libboost-system1.65.1 but it is not installable
                              Depends: python-numpy but it is not installable
 ros-melodic-librviz-tutorial : Depends: libboost-system1.65.1 but it is not installable
 ros-melodic-nodelet : Depends: libboost-filesystem1.65.1 but it is not installable
                       Depends: libboost-system1.65.1 but it is not installable
                       Depends: libboost-thread1.65.1 but it is not installable
                       Depends: libtinyxml2-6 (>= 5.0.0) but it is not installable
 ros-melodic-nodelet-tutorial-math : Depends: libboost-system1.65.1 but it is not installable
 ros-melodic-pcl-ros : Depends: libboost-filesystem1.65.1 but it is not installable
                       Depends: libboost-system1.65.1 but it is not installable
                       Depends: libpcl-common1.8 but it is not installable
                       Depends: libpcl-features1.8 but it is not installable
                       Depends: libpcl-filters1.8 but it is not installable
                       Depends: libpcl-io1.8 but it is not installable
                       Depends: libpcl-search1.8 but it is not installable
                       Depends: libpcl-segmentation1.8 but it is not installable
                       Depends: libpcl-surface1.8 but it is not installable
 ros-melodic-pluginlib-tutorials : Depends: libboost-filesystem1.65.1 but it is not installable
                                   Depends: libboost-system1.65.1 but it is not installable
                                   Depends: libtinyxml2-6 (>= 5.0.0) but it is not installable
 ros-melodic-position-controllers : Depends: libboost-system1.65.1 but it is not installable
 ros-melodic-python-orocos-kdl : Depends: python-sip-dev but it is not installable
 ros-melodic-python-qt-binding : Depends: python-pyqt5 but it is not installable
                                 Depends: python-pyqt5.qtsvg but it is not installable
                                 Depends: python-sip-dev but it is not installable
 ros-melodic-qt-dotgraph : Depends: python-pydot but it is not installable
 ros-melodic-robot-state-publisher : Depends: libboost-system1.65.1 but it is not installable
 ros-melodic-rosbag : Depends: libboost-filesystem1.65.1 but it is not installable
                      Depends: libboost-program-options1.65.1 but it is not installable
                      Depends: libboost-regex1.65.1 but it is not installable
                      Depends: libboost-system1.65.1 but it is not installable
                      Depends: libboost-thread1.65.1 but it is not installable
                      Depends: python-gnupg but it is not installable
                      Depends: python-pycryptodome but it is not installable
                      Depends: ros-melodic-rosbag-storage but it is not going to be installed
 ros-melodic-rosconsole : Depends: libboost-regex1.65.1 but it is not installable
                          Depends: libboost-system1.65.1 but it is not installable
                          Depends: liblog4cxx10v5 (>= 0.10.0) but it is not installable
 ros-melodic-roscpp : Depends: libboost-chrono1.65.1 but it is not installable
                      Depends: libboost-filesystem1.65.1 but it is not installable
                      Depends: libboost-system1.65.1 but it is not installable
                      Depends: libboost-thread1.65.1 but it is not installable
 ros-melodic-roscpp-tutorials : Depends: libboost-system1.65.1 but it is not installable
                                Depends: libboost-thread1.65.1 but it is not installable
 ros-melodic-rosgraph : Depends: python-netifaces but it is not installable
                        Depends: python-yaml but it is not installable
 ros-melodic-roslaunch : Depends: python-paramiko but it is not installable
                         Depends: python-yaml but it is not installable
 ros-melodic-roslib : Depends: libboost-system1.65.1 but it is not installable
 ros-melodic-rosmaster : Depends: python-defusedxml but it is not installable
 ros-melodic-rospack : Depends: libboost-filesystem1.65.1 but it is not installable
                       Depends: libboost-program-options1.65.1 but it is not installable
                       Depends: libboost-system1.65.1 but it is not installable
                       Depends: libtinyxml2-6 (>= 5.0.0) but it is not installable
                       Depends: python-catkin-pkg-modules but it is not going to be installed
                       Depends: python-rosdep-modules but it is not going to be installed
 ros-melodic-rosparam : Depends: python-yaml but it is not installable
 ros-melodic-rospy : Depends: python-numpy but it is not installable
                     Depends: python-yaml but it is not installable
 ros-melodic-rostime : Depends: libboost-system1.65.1 but it is not installable
 ros-melodic-roswtf : Depends: python-paramiko but it is not installable
 ros-melodic-rqt-bag-plugins : Depends: python-cairo but it is not installable
                               Depends: python-pil but it is not installable
 ros-melodic-rqt-image-view : Depends: libboost-system1.65.1 but it is not installable
                              Depends: libopencv-core3.2 but it is not installable
                              Depends: libopencv-imgproc3.2 but it is not installable
                              Depends: ros-melodic-rqt-gui-cpp but it is not going to be installed
 ros-melodic-rqt-plot : Depends: python-matplotlib but it is not installable
                        Depends: python-numpy but it is not installable
 ros-melodic-rqt-pose-view : Depends: python-opengl but it is not installable
                             Depends: ros-melodic-gl-dependency but it is not going to be installed
 ros-melodic-rqt-reconfigure : Depends: python-yaml but it is not installable
 ros-melodic-rqt-rviz : Depends: libboost-program-options1.65.1 but it is not installable
                        Depends: libboost-system1.65.1 but it is not installable
                        Depends: ros-melodic-rqt-gui-cpp but it is not going to be installed
 ros-melodic-rqt-top : Depends: python-psutil but it is not installable
 ros-melodic-rviz : Depends: libassimp4 but it is not installable
                    Depends: libboost-filesystem1.65.1 but it is not installable
                    Depends: libboost-program-options1.65.1 but it is not installable
                    Depends: libboost-system1.65.1 but it is not installable
                    Depends: libboost-thread1.65.1 but it is not installable
                    Depends: libtinyxml2-6 (>= 5.0.0) but it is not installable
                    Depends: libyaml-cpp0.5v5 but it is not installable
                    Depends: ros-melodic-interactive-markers but it is not going to be installed
                    Depends: ros-melodic-resource-retriever but it is not going to be installed
 ros-melodic-rviz-plugin-tutorials : Depends: libboost-system1.65.1 but it is not installable
                                     Depends: libboost-thread1.65.1 but it is not installable
 ros-melodic-self-test : Depends: libboost-system1.65.1 but it is not installable
 ros-melodic-stage-ros : Depends: libboost-system1.65.1 but it is not installable
                         Depends: libboost-thread1.65.1 but it is not installable
 ros-melodic-stereo-image-proc : Depends: libboost-system1.65.1 but it is not installable
                                 Depends: libopencv-calib3d3.2 but it is not installable
                                 Depends: libopencv-core3.2 but it is not installable
 ros-melodic-tf : Depends: libboost-system1.65.1 but it is not installable
                  Depends: libboost-thread1.65.1 but it is not installable
 ros-melodic-tf2 : Depends: libboost-system1.65.1 but it is not installable
 ros-melodic-tf2-ros : Depends: libboost-system1.65.1 but it is not installable
                       Depends: libboost-thread1.65.1 but it is not installable
                       Depends: ros-melodic-tf2-py but it is not going to be installed
 ros-melodic-theora-image-transport : Depends: libboost-system1.65.1 but it is not installable
                                      Depends: libopencv-core3.2 but it is not installable
                                      Depends: libopencv-imgproc3.2 but it is not installable
 ros-melodic-turtle-actionlib : Depends: libboost-system1.65.1 but it is not installable
                                Depends: libboost-thread1.65.1 but it is not installable
 ros-melodic-turtle-tf : Depends: libboost-system1.65.1 but it is not installable
 ros-melodic-turtle-tf2 : Depends: libboost-system1.65.1 but it is not installable
 ros-melodic-urdf : Depends: libboost-filesystem1.65.1 but it is not installable
                    Depends: libboost-system1.65.1 but it is not installable
                    Depends: libtinyxml2-6 (>= 5.0.0) but it is not installable
 ros-melodic-urdfdom-py : Depends: python-yaml but it is not installable
 ros-melodic-webkit-dependency : Depends: python-pyqt5.qtwebkit but it is not installable
E: Unable to correct problems, you have held broken packages.

我试图专注于错误

E: Unable to correct problems, you have held broken packages.

但从未找到安装 ROS 的解决方案。我使用 Synaptic 包管理器来修复和删除任何损坏的包，并试图解除每个包以解决问题，但没有任何效果。
有谁知道如何解决这个问题？谢谢!

Answer 1

您收到此错误是因为 Melodic 是 Ubuntu 18.04 的 ros 发行版。截至目前，最新版本是 Noetic目标是 20.04。您使用的 Ubuntu 版本目前没有支持的 ROS 版本，因此如果您想要 ROS，您唯一真正的选择是降级。