###参考:http://wiki.ros.org/cn/kinetic/Installation/Ubuntu
###基础环境
ubuntu 16.04 x86_64
_*注意事项*_
ubuntu 版本必须使用64位16.04
###1,设置源
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
###2,设置密钥
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
###3,更新源
sudo apt-get update; sudo apt-get upgrade
###4,安装ROS
sudo apt-get install ros-kinetic-desktop-full
###5,初始化rosdep
sudo rosdep init
###6,更新rosdep
rosdep update
###7,设置环境变量
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
###8,更新环境变量配置
source ~/.bashrc
###9,环境测试
打开新的终端,输入roscore 如无错误信息,则表示环境安装成功
_*注意事项*_
如果执行第4步出现下面的错误,使用如下方式解决,切勿重启,否则会导致系统无法正常启动
安装错误:
Errors were encountered while processing:
/var/cache/apt/archives/python-rosdistro-modules_0.7.0-1_all.deb
/var/cache/apt/archives/python-rosdistro_0.7.0-100_all.deb
E: Sub-process /usr/bin/dpkg returned an error code (1)
解决方案:
sudo apt-get purge ros-*
sudo apt-get update
sudo apt-get upgrade
sudo apt-get install ros-kinetic-desktop-full