下载ROS源码

• step1 安装依赖项

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

• step2 选择内容并下载

1.可选1：

Desktop-Full Install: ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception

rosinstall_generator desktop_full --rosdistro indigo --deps --wet-only --tar > indigo-desktop-full-wet.rosinstall

wstool init -j8 src indigo-desktop-full-wet.rosinstall

2.可选2：

Desktop Install (recommended): ROS, rqt, rviz, and robot-generic libraries

rosinstall_generator desktop --rosdistro indigo --deps --wet-only --tar > indigo-desktop-wet.rosinstall

wstool init -j8 src indigo-desktop-wet.rosinstall

3.可选3：

ROS-Comm: (Bare Bones) ROS package, build, and communication libraries. No GUI tools.

rosinstall_generator ros_comm --rosdistro indigo --deps --wet-only --tar > indigo-ros_comm-wet.rosinstall

wstool init -j8 src indigo-ros_comm-wet.rosinstall

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如果下载中断，可以运行如下命令支持断点续传

wstool update -j 4 -t src

• 注意

这里只是下载indigo版本，如果你想下载Jade、Kinetic、Lunar和Melodic版本，只需要将以上的step2和step3的命令行中的indigo替换为你想下载的版本名字即可。

• 更多请见

• Installing from source

http://wiki.ros.org/indigo/Installation/Source

• ros wstool .rosinstall rosinstall_generator rosdep

https://blog.csdn.net/xiaoma_bk/article/details/85004863