RTP（Robi改造计划）--- Stretch可以跑Kinetic了

折腾了蛮久更新版本，起因是gcc 4.9不支持结构体指定初始化但是我很喜欢它；于是打算更新成5.x或者6.x，然后连操作系统一起更新成stretch了---虽然这风险很大，但是我就是这么轴啊。。。紧接着ROS肯定是不行了，于是也干脆更新为kinetic算了。

好消息是kinetic在raspberry的源码编译比indigo好多了；当然选择ros_comm， 后续再添加，好过浪费时间在不需要的包上。

http://wiki.ros.org/ROSberryPi/Installing%20ROS%20Kinetic%20on%20the%20Raspberry%20Pi

我只根据这个链接就完成了，相当顺利。

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编译刚刚过了，下面就是我最喜欢的调试了，调试是我最喜欢的部分。

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后续可能需要添加的候选包列表（我现在只选了actionlib common_msgs geometry navigation_msgs）：

actionlib
angles
bond_core/bond
   bond_core/bond_core
   bond_core/bondcpp
   bond_core/bondpy
   bond_core/smclib
collada_urdf/collada_parser
   collada_urdf/collada_urdf
common_msgs/actionlib_msgs
   common_msgs/common_msgs
   common_msgs/diagnostic_msgs
   common_msgs/geometry_msgs
   common_msgs/nav_msgs
   common_msgs/sensor_msgs
   common_msgs/shape_msgs
   common_msgs/stereo_msgs
   common_msgs/trajectory_msgs
   common_msgs/visualization_msgs
common_tutorials/actionlib_tutorials
   common_tutorials/common_tutorials
   common_tutorials/nodelet_tutorial_math
   common_tutorials/pluginlib_tutorials
   common_tutorials/turtle_actionlib
control_msgs
diagnostics/diagnostic_aggregator
   diagnostics/diagnostic_analysis
   diagnostics/diagnostic_common_diagnostics
   diagnostics/diagnostic_updater
   diagnostics/diagnostics
   diagnostics/self_test
dynamic_reconfigure
eigen_stl_containers   
executive_smach/executive_smach
   executive_smach/smach
   executive_smach/smach_msgs
   executive_smach/smach_ros
filters
gazebo_ros_pkgs/gazebo_dev
   gazebo_ros_pkgs/gazebo_msgs
   gazebo_ros_pkgs/gazebo_plugin
   gazebo_ros_pkgs/gazebo_ros
   gazebo_ros_pkgs/gazebo_ros_pkgs
geometric_shapes
geometry/eigen_conversions
   geometry/geometry
   geometry/kdl_conversions
   geometry/tf
   geometry/tf_conversions
geometry2/tf2
   geometry2/tf2_eigen
   geometry2/tf2_geometry_msgs
   geometry2/tf2_kdl
   geometry2/tf2_msgs
   geometry2/tf2_py
   geometry2/tf2_ros
geometry_tutorials/geometry_tutorials
   geometry_tutorials/turtle_tf
   geometry_tutorials/turtle_tf2
gl_dependency
image_common/camera_calibration_parsers
   image_common/camera_info_manager
   image_common/image_common
   image_common/image_transport
   image_common/polled_camera
image_pipeline/camera_calibration
   image_pipeline/depth_image_proc
   image_pipeline/image_pipeline
   image_pipeline/image_proc
   image_pipeline/image_publisher
   image_pipeline/image_rotate
   image_pipeline/image_view
   image_pipeline/stereo_image_proc
image_transport_plugins/compressed_depth_image_transport
   image_transport_plugins/compressed_image_transport
   image_transport_plugins/image_transport_plugins
   image_transport_plugins/theora_image_transport
interactive_markers   
joint_state_publisher
kdl_parser/kdl_parser
laser_assembler  
laser_filters 
laser_geometry
laser_pipeline
media_export
metapackages/desktop
   metapackages/desktop_full
   metapackages/perception
   metapackages/robot
   metapackages/ros_base
   metapackages/ros_core
   metapackages/simulators
   metapackages/viz
navigation_msgs/map_msgs
nodelet_core/nodelet
   nodelet_core/nodelet_core
   nodelet_core/nodelet_topic_tools
octomap/octomap
opencv3
orocos_kinematics_dynamics/orocos_kdl
   orocos_kinematics_dynamics/python_orocos_kdl
pcl_conversions
pcl_msgs
perception_pcl/pcl_ros
perception_pcl/perception_pcl
pluginlib
python_qt_binding
qt_gui_core/qt_dotgraph
qt_gui_core/qt_gui
qt_gui_core/qt_gui_cpp
qt_gui_core/qt_gui_py_common
qwt_dependency
random_numbers
resource_retriever
robot_model
robot_state_publisher
ros_tutorials/ros_tutorials
   ros_tutorials/roscpp_tutorials
   ros_tutorials/rospy_tutorials
   ros_tutorials/turtlesim
rosbag_migration_rule
rosconsole_bridge
roscpp_core/roscpp_core
roslint
rqt/rqt_gui
   rqt/rqt_gui_cpp
   rqt/rqt_gui_py
   rqt/rqt_py_common
   rqt_action
   rqt_bag/rqt_bag
   rqt_bag/rqt_bag_plugins
   rqt_common_plugins
   rqt_console
   rqt_dep
   rqt_graph
   rqt_image_view
   rqt_launch
   rqt_logger_level
   rqt_moveit
   rqt_msg
   rqt_nav_view
   rqt_plot
   rqt_pose_view
   rqt_publisher
   rqt_py_console   
   rqt_reconfigure
   rqt_robot_dashboard
   rqt_robot_monitor
   rqt_robot_plugins
   rqt_robot_steering
   rqt_runtime_monitor
   rqt_rviz
   rqt_service_caller
   rqt_shell
   rqt_srv
   rqt_tf_tree
   rqt_top
   rqt_topic
   rqt_web
rviz
stage
stage_ros
urdf/urdf
   urdf/urdf_parser_plugin
urdf_tutorial/urdf_tutorial
vision_opencv/cv_bridge
   vision_opencv/image_geometry
   vision_opencv/vision_opencv
visualization_tutorials/librviz_tutorial
   visualization_tutorials/interactive_marker_tutorials
   visualization_tutorials/rviz_plugin_tutorials
   visualization_tutorials/rviz_python_tutorial
   visualization_tutorials/visualization_marker_tutorials
   visualization_tutorials/visualization_tutorials
webkit_dependency
xacro


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ros_comm 52 + 176 customer = 228个desktop package