Ubuntu16.04安装ROS-Kinetic

1.设置Source.list

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

下面进行换源，可以加速下载依赖包的速度

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list' 

2.设置公钥（Key）

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

若成功导入，会显示

gpg: Total number processed: 1
gpg:               imported: 1  (RSA: 1)

 3.更新Package

sudo apt-get update

4、安装ROS kinetic完整版

sudo apt-get install ros-kinetic-desktop-full

5、初始化rosdep

sudo rosdep init
rosdep update

Tip：这一步绝大多数人都会出错

ERROR: cannot download default sources list from:
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
Website may be down.

我在不断配置中也没有成功过，主要原因时连接到Github超时，但是可以手动从GIthub下下载好依赖包，再进行相关配置，下面链接为解决方法。

rosdep init/rosdep update error:timeout - 古月居 (guyuehome.com)

进行文章里的操作时，用

sudo nautilus

打开文件，不能随意给文件权限，否则系统就原地爆炸，直接报废（万一报废了，如果时虚拟机，就需要提前快照备份，非虚拟机可以用timeshift进行快照备份，详细会以后总结出一篇文章介绍快照备份）

6.刷新ROS环境

echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

7、安装依赖包

sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential

8.安装完成，启动ROS核心进行测试

roscore

ROS安装成功会显示下面得东西

SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
process[master]: started with pid [29079]
ROS_MASTER_URI=http://ubuntu:11311/

setting /run_id to fe569820-2d9f-11ec-9604-000c297e3cf6
process[rosout-1]: started with pid [29092]
started core service [/rosout]
^C[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
 

大功告成！！！

参考链接：rosdep init/rosdep update error:timeout - 古月居 (guyuehome.com)

(34条消息) Ubuntu16.04安装ROS Kinetic详细过程_异想天开的博客-CSDN博客