ubuntu16上安装ROS Kinetic

1、ROS kinetic安装与使用
参考的网址：http://wiki.ros.org/kinetic
http://wiki.ros.org/kinetic/Installation/Ubuntu

1.1 设置安装源
ROS Kinetic只支持Wily(15.10)和Xenial(16.04)对应内核分别为4.2和4.4，使用下面命令：
~$sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu$(lsb_release -sc) main” > /etc/apt/sources.list.d/ros-latest.list’
1.2设置keys
~$ sudo apt-key adv –keyserver hkp://ha.pool.sks-keyservers.net:80 –recv-key 0xB01FA116

Executing: /tmp/tmp.vZcRo5lOC8/gpg.1.sh –keyserver
hkp://ha.pool.sks-keyservers.net:80
–recv-key
0xB01FA116

1.3 安装
~$sudo apt-get update ~$ sudo apt-get install ros-kinetic-desktop-full

1.4 初始化
~$ sudo rosdep init

Wrote /etc/ros/rosdep/sources.list.d/20-default.list
Recommended: please run

rosdep update

~$ rosdep update

reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/Python.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index.yaml
Add distro “groovy”
Add distro “hydro”
Add distro “indigo”
Add distro “jade”
Add distro “kinetic”
updated cache in /home/relaybot/.ros/rosdep/sources.cache

1.5 环境配置
~$echo “source /opt/ros/kinetic/setup.bash” >> ~/.bashrc ~$ source ~/.bashrc

注意当安装多个ROS发行版，使用kinetic需要用到下面命令：
~$ source /opt/ros/kinetic/setup.bash

1.6 安装rosinstall
~$ sudo apt-get install python-rosinstall

1.7 测试roscore
~$ roscore

1.8在另一个终端输入rosnode list

这样说明已经安装成功了