我一直在尝试在新安装的 Ubuntu 20.04 上安装 ROS noetic。
我首先设置源列表，然后设置密钥并运行sudo apt update，按照以下指南进行操作：http://wiki.ros.org/noetic/Installation/Ubuntu
然而，我们确实错过了允许受限、宇宙和多元宇宙回购的初始步骤。
之后，我们运行sudo apt install ros-noetic-desktop-full失败，并收到以下输出：
luca@luca-Z370P-D3:~$ sudo apt install ros-noetic-desktop-full
[sudo] password for luca:
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
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.
gazebo11 : Depends: libboost-filesystem1.71.0 but it is not installable
Depends: libboost-iostreams1.71.0 but it is not installable
Depends: libboost-program-options1.71.0 but it is not installable
Depends: libboost-regex1.71.0-icu66 but it is not installable
Depends: libboost-thread1.71.0 but it is not installable
Depends: libgazebo11 (= 11.10.2-1~focal) but 11.10.2+dfsg-1 is to be installed
Depends: libignition-msgs5 (>= 5.9.0) but it is not going to be installed
Depends: libignition-transport8 (>= 8.2.1) but it is not going to be installed
Depends: libprotobuf17 but it is not installable
Depends: gazebo11-common (>= 11.2.0) but it is not going to be installed
Recommends: gazebo11-plugin-base but it is not going to be installed
libgazebo11-dev : Depends: libignition-transport8-dev but it is not going to be installed
Depends: libignition-msgs5-dev but it is not going to be installed
Depends: libignition-fuel-tools4-dev but it is not going to be installed
Depends: libignition-common3-profiler-dev but it is not going to be installed
Depends: libdart6-collision-bullet-dev (< 6.10.0) but it is not installable or
libdart-collision-bullet-dev (< 6.10.0) but it is not going to be installed
Depends: libdart6-collision-ode-dev (< 6.10.0) but it is not installable or
libdart-collision-ode-dev (< 6.10.0) but it is not going to be installed
Depends: libdart6-utils-urdf-dev (< 6.10.0) but it is not installable or
libdart-utils-urdf-dev (< 6.10.0) but it is not going to be installed
Depends: libdart6-external-odelcpsolver-dev (< 6.10.0) but it is not installable or
libdart-external-odelcpsolver-dev (< 6.10.0) but it is not going to be installed
Depends: libdart6-external-ikfast-dev (< 6.10.0) but it is not installable or
libdart-external-ikfast-dev (< 6.10.0) but it is not going to be installed
Depends: libgazebo11 (= 11.10.2-1~focal) but 11.10.2+dfsg-1 is to be installed
Depends: gazebo11-common (>= 11.2.0) but it is not going to be installed
Depends: gazebo11-plugin-base (= 11.10.2-1~focal) but it is not going to be installed
ros-noetic-actionlib : Depends: libboost-thread1.71.0 but it is not installable
ros-noetic-actionlib-tutorials : Depends: libboost-thread1.71.0 but it is not installable
ros-noetic-bondcpp : Depends: libboost-thread1.71.0 but it is not installable
ros-noetic-camera-calibration-parsers : Depends: libboost-filesystem1.71.0 but it is not installable
Depends: libboost-python1.71.0 but it is not installable
Depends: libboost-python1.71.0-py38 but it is not installable
Depends: libpython3.8 (>= 3.8.2) but it is not installable
Depends: libyaml-cpp0.6 (>= 0.6.2) but it is not installable
ros-noetic-class-loader : Depends: libconsole-bridge0.4 but it is not installable
Depends: libpocofoundation62 (>= 1.9.2) but it is not installable
ros-noetic-compressed-depth-image-transport : Depends: libconsole-bridge0.4 but it is not installable
Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable
Depends: libopencv-imgcodecs4.2 (>= 4.2.0+dfsg) but it is not installable
ros-noetic-compressed-image-transport : Depends: libconsole-bridge0.4 but it is not installable
Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable
Depends: libopencv-imgcodecs4.2 (>= 4.2.0+dfsg) but it is not installable
Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable
ros-noetic-controller-manager : Depends: libboost-filesystem1.71.0 but it is not installable
Depends: libconsole-bridge0.4 but it is not installable
Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable
ros-noetic-cpp-common : Depends: libconsole-bridge0.4 but it is not installable
ros-noetic-cv-bridge : Depends: libboost-python1.71.0 but it is not installable
Depends: libboost-python1.71.0-py38 but it is not installable
Depends: libboost-regex1.71.0-icu66 but it is not installable
Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable
Depends: libopencv-imgcodecs4.2 (>= 4.2.0+dfsg) but it is not installable
Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable
Depends: libpython3.8 (>= 3.8.2) but it is not installable
ros-noetic-depth-image-proc : Depends: libconsole-bridge0.4 but it is not installable
Depends: libopencv-calib3d4.2 (>= 4.2.0+dfsg) but it is not installable
Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable
Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable
ros-noetic-diagnostic-aggregator : Depends: libboost-filesystem1.71.0 but it is not installable
Depends: libboost-regex1.71.0-icu66 but it is not installable
Depends: libconsole-bridge0.4 but it is not installable
Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable
ros-noetic-diagnostic-common-diagnostics : Depends: hddtemp but it is not installable
ros-noetic-diff-drive-controller : Depends: libconsole-bridge0.4 but it is not installable
Depends: liburdfdom-model but it is not installable
ros-noetic-eigen-conversions : Depends: liborocos-kdl1.4 but it is not installable
ros-noetic-filters : Depends: libconsole-bridge0.4 but it is not installable
ros-noetic-gazebo-plugins : Depends: libboost-thread1.71.0 but it is not installable
Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable
Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable
Depends: libprotobuf17 but it is not installable
ros-noetic-gazebo-ros : Depends: libboost-thread1.71.0 but it is not installable
Depends: libprotobuf17 but it is not installable
ros-noetic-gazebo-ros-control : Depends: libboost-filesystem1.71.0 but it is not installable
Depends: libboost-thread1.71.0 but it is not installable
Depends: libconsole-bridge0.4 but it is not installable
Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable
Depends: ros-noetic-transmission-interface but it is not going to be installed
ros-noetic-image-geometry : Depends: libopencv-calib3d4.2 (>= 4.2.0+dfsg) but it is not installable
Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable
Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable
ros-noetic-image-proc : Depends: libconsole-bridge0.4 but it is not installable
Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable
Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable
ros-noetic-image-publisher : Depends: libconsole-bridge0.4 but it is not installable
Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable
Depends: libopencv-imgcodecs4.2 (>= 4.2.0+dfsg) but it is not installable
Depends: libopencv-videoio4.2 (>= 4.2.0+dfsg) but it is not installable
ros-noetic-image-rotate : Depends: libconsole-bridge0.4 but it is not installable
Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable
Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable
ros-noetic-image-transport : Depends: libboost-filesystem1.71.0 but it is not installable
Depends: libconsole-bridge0.4 but it is not installable
Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable
ros-noetic-image-view : Depends: libboost-thread1.71.0 but it is not installable
Depends: libconsole-bridge0.4 but it is not installable
Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable
Depends: libopencv-highgui4.2 (>= 4.2.0+dfsg) but it is not installable
Depends: libopencv-imgcodecs4.2 (>= 4.2.0+dfsg) but it is not installable
Depends: libopencv-videoio4.2 (>= 4.2.0+dfsg) but it is not installable
ros-noetic-interactive-markers : Depends: libboost-thread1.71.0 but it is not installable
ros-noetic-joint-state-controller : Depends: libconsole-bridge0.4 but it is not installable
ros-noetic-kdl-conversions : Depends: liborocos-kdl1.4 but it is not installable
ros-noetic-kdl-parser : Depends: liborocos-kdl1.4 but it is not installable
Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable
Depends: liburdfdom-model but it is not installable
ros-noetic-laser-assembler : Depends: libboost-filesystem1.71.0 but it is not installable
Depends: libconsole-bridge0.4 but it is not installable
Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable
ros-noetic-laser-filters : Depends: libboost-filesystem1.71.0 but it is not installable
Depends: libconsole-bridge0.4 but it is not installable
Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable
ros-noetic-nodelet : Depends: libboost-filesystem1.71.0 but it is not installable
Depends: libboost-thread1.71.0 but it is not installable
Depends: libconsole-bridge0.4 but it is not installable
Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable
ros-noetic-nodelet-tutorial-math : Depends: libconsole-bridge0.4 but it is not installable
ros-noetic-pcl-ros : Depends: libboost-filesystem1.71.0 but it is not installable
Depends: libconsole-bridge0.4 but it is not installable
Depends: libpcl-common1.10 (>= 1.10.0+dfsg) but it is not installable
Depends: libpcl-features1.10 (>= 1.10.0+dfsg) but it is not installable
Depends: libpcl-filters1.10 (>= 1.10.0+dfsg) but it is not installable
Depends: libpcl-io1.10 (>= 1.10.0+dfsg) but it is not installable
Depends: libpcl-search1.10 (>= 1.10.0+dfsg) but it is not installable
Depends: libpcl-segmentation1.10 (>= 1.10.0+dfsg) but it is not installable
Depends: libpcl-surface1.10 (>= 1.10.0+dfsg) but it is not installable
ros-noetic-pluginlib-tutorials : Depends: libboost-filesystem1.71.0 but it is not installable
Depends: libconsole-bridge0.4 but it is not installable
Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable
ros-noetic-position-controllers : Depends: libconsole-bridge0.4 but it is not installable
ros-noetic-robot-state-publisher : Depends: liborocos-kdl1.4 but it is not installable
Depends: liburdfdom-world but it is not installable
ros-noetic-rosbag : Depends: libboost-filesystem1.71.0 but it is not installable
Depends: libboost-program-options1.71.0 but it is not installable
Depends: libboost-regex1.71.0-icu66 but it is not installable
Depends: libboost-thread1.71.0 but it is not installable
Depends: libconsole-bridge0.4 but it is not installable
Depends: ros-noetic-rosbag-storage but it is not going to be installed
ros-noetic-rosconsole : Depends: libboost-regex1.71.0-icu66 but it is not installable
Depends: liblog4cxx10v5 (>= 0.10.0) but it is not installable
ros-noetic-rosconsole-bridge : Depends: libconsole-bridge0.4 but it is not installable
ros-noetic-roscpp : Depends: libboost-chrono1.71.0 but it is not installable
Depends: libboost-filesystem1.71.0 but it is not installable
Depends: libboost-thread1.71.0 but it is not installable
ros-noetic-roscpp-tutorials : Depends: libboost-thread1.71.0 but it is not installable
ros-noetic-rospack : Depends: libboost-filesystem1.71.0 but it is not installable
Depends: libboost-program-options1.71.0 but it is not installable
Depends: libpython3.8 (>= 3.8.2) but it is not installable
Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable
ros-noetic-rqt-image-view : Depends: libconsole-bridge0.4 but it is not installable
Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable
Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable
Depends: ros-noetic-rqt-gui-cpp but it is not going to be installed
ros-noetic-rqt-rviz : Depends: libboost-program-options1.71.0 but it is not installable
Depends: libconsole-bridge0.4 but it is not installable
Depends: ros-noetic-rqt-gui-cpp but it is not going to be installed
ros-noetic-rviz : Depends: libboost-filesystem1.71.0 but it is not installable
Depends: libboost-program-options1.71.0 but it is not installable
Depends: libboost-thread1.71.0 but it is not installable
Depends: libconsole-bridge0.4 but it is not installable
Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable
Depends: liburdfdom-world but it is not installable
Depends: libyaml-cpp0.6 (>= 0.6.2) but it is not installable
ros-noetic-rviz-plugin-tutorials : Depends: libboost-thread1.71.0 but it is not installable
Depends: libconsole-bridge0.4 but it is not installable
ros-noetic-stage-ros : Depends: libboost-thread1.71.0 but it is not installable
ros-noetic-stereo-image-proc : Depends: libconsole-bridge0.4 but it is not installable
Depends: libopencv-calib3d4.2 (>= 4.2.0+dfsg) but it is not installable
Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable
Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable
ros-noetic-tf : Depends: libboost-thread1.71.0 but it is not installable
ros-noetic-tf-conversions : Depends: liborocos-kdl1.4 but it is not installable
ros-noetic-tf2 : Depends: libconsole-bridge0.4 but it is not installable
ros-noetic-tf2-ros : Depends: libboost-thread1.71.0 but it is not installable
Depends: ros-noetic-tf2-py but it is not going to be installed
ros-noetic-theora-image-transport : Depends: libconsole-bridge0.4 but it is not installable
Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable
Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable
ros-noetic-turtle-actionlib : Depends: libboost-thread1.71.0 but it is not installable
ros-noetic-urdf : Depends: libboost-filesystem1.71.0 but it is not installable
Depends: libconsole-bridge0.4 but it is not installable
Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable
Depends: liburdfdom-model but it is not installable
W: Target Packages (main/binary-amd64/Packages) is configured multiple times in /etc/apt/sources.list.d/ros-focal.list:1 and /etc/apt/sources.list.d/ros.list:1
W: Target Packages (main/binary-i386/Packages) is configured multiple times in /etc/apt/sources.list.d/ros-focal.list:1 and /etc/apt/sources.list.d/ros.list:1
W: Target Packages (main/binary-all/Packages) is configured multiple times in /etc/apt/sources.list.d/ros-focal.list:1 and /etc/apt/sources.list.d/ros.list:1
W: Target Translations (main/i18n/Translation-en_GB) is configured multiple times in /etc/apt/sources.list.d/ros-focal.list:1 and /etc/apt/sources.list.d/ros.list:1
W: Target Translations (main/i18n/Translation-en) is configured multiple times in /etc/apt/sources.list.d/ros-focal.list:1 and /etc/apt/sources.list.d/ros.list:1
W: Target DEP-11 (main/dep11/Components-amd64.yml) is configured multiple times in /etc/apt/sources.list.d/ros-focal.list:1 and /etc/apt/sources.list.d/ros.list:1
W: Target DEP-11 (main/dep11/Components-all.yml) is configured multiple times in /etc/apt/sources.list.d/ros-focal.list:1 and /etc/apt/sources.list.d/ros.list:1
W: Target DEP-11-icons-small (main/dep11/icons-48x48.tar) is configured multiple times in /etc/apt/sources.list.d/ros-focal.list:1 and /etc/apt/sources.list.d/ros.list:1
W: Target DEP-11-icons (main/dep11/icons-64x64.tar) is configured multiple times in /etc/apt/sources.list.d/ros-focal.list:1 and /etc/apt/sources.list.d/ros.list:1
W: Target DEP-11-icons-hidpi (main/dep11/[email protected]) is configured multiple times in /etc/apt/sources.list.d/ros-focal.list:1 and /etc/apt/sources.list.d/ros.list:1
W: Target CNF (main/cnf/Commands-amd64) is configured multiple times in /etc/apt/sources.list.d/ros-focal.list:1 and /etc/apt/sources.list.d/ros.list:1
W: Target CNF (main/cnf/Commands-all) is configured multiple times in /etc/apt/sources.list.d/ros-focal.list:1 and /etc/apt/sources.list.d/ros.list:1
E: Unable to correct problems, you have held broken packages.
收到此错误后，我们启用了 universe、multiverse 和 restricted repos，运行后sudo apt update结果仍然相同。我们不确定是否还有其他可能的修复方法，
感谢您的时间。