Ubuntu 16.04 安装ROS Kinetic

记录第一次安装，小激动（网太慢，闲着也是闲着）
参考两位成功人士的步骤：
https://blog.csdn.net/softimite_zifeng/article/details/78632211
https://blog.csdn.net/jinking01/article/details/79387639
小白一个，如有错误，欢迎指出
1.配置ubuntu的軟件中心，允许安装不经认可的软件

首先打开“软件和更新”对话框，具体可以在 Ubuntu 最左上角的搜索按钮中搜索。

确保你的”restricted”， “universe，” 和 “multiverse.”前是打上勾的。
2.添加国内的ubuntu源

如163和阿里云的的源，这样从国内下载，速度会很快。

修改/etc/apt/sources.list文件
(注：一般用gedit打开为只读文件，需root用户更改权限。

chmod 0666 /etc/apt/sources.list 

这样所有人都能修改了。
之后别忘了:

chmod 0644 /etc/apt/sources.list

改回这个文件的权限。)
在/etc/apt/sources.list文件头部添加：

deb-src http://archive.ubuntu.com/ubuntu xenial main restricted #Added by software-properties  
deb http://mirrors.aliyun.com/ubuntu/ xenial main restricted  
deb-src http://mirrors.aliyun.com/ubuntu/ xenial main restricted multiverse universe #Added by software-properties  
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted  
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted multiverse universe #Added by software-properties  
deb http://mirrors.aliyun.com/ubuntu/ xenial universe  
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates universe  
deb http://mirrors.aliyun.com/ubuntu/ xenial multiverse  
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates multiverse  
deb http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse  
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse #Added by software-properties  
deb http://archive.canonical.com/ubuntu xenial partner  
deb-src http://archive.canonical.com/ubuntu xenial partner  
deb http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted  
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted multiverse universe #Added by software-properties  
deb http://mirrors.aliyun.com/ubuntu/ xenial-security universe  
deb http://mirrors.aliyun.com/ubuntu/ xenial-security multiverse 

或者

deb http://mirrors.163.com/ubuntu/ precise main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ precise-security main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ precise-updates main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ precise-proposed main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ precise-backports main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ precise main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ precise-security main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ precise-updates main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ precise-proposed main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ precise-backports main restricted universe multiverse

保存后，更新源，执行sudo apt-get update即可。

然後修改“软件和更新”中的“Ubuntu软件”中的“源代码”下载的源，如清华大学的源。

http://mirrors.tuna.tsinghua.edu.cn/ubuntu

4.安装ros
4.1添加ros源

打开一个终端(Ctrl + Alt + T), 输入如下指令：

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

设置秘钥:

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 0xB01FA116

失败如下：

Executing: /tmp/tmp.83FWPQa8XA/gpg.1.sh --keyserver
hkp://ha.pool.sks-keyservers.net:80
--recv-key
0xB01FA116
gpg: 下载密钥‘B01FA116’，从 hkp 服务器 ha.pool.sks-keyservers.net
gpg: 公钥服务器超时
gpg: 从公钥服务器接收失败：公钥服务器错误

换一个

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

继续失败，再换一个

sudo apt-key adv --keyserver hkp://pgp.mit.edu:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

然後执行sudo apt-get update刷新源的信息，否則后面就无法定位ros安裝包。
4.2安裝ros系统

安装ROS kinetic full版

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

4.3安装完可以查看可用的package：

apt-cache search ros-kinetic

5.初始化ros(使用之前必须初始化)

sudo rosdep init
rosdep update

失败如下：（网上很多都说是网络的问题，我感觉就是，因为我在查这个问题的时候网慢的连网页都打不开，，，）

Add distro "groovy"
Add distro "hydro"
ERROR: error loading sources list:
    ('The read operation timed out',)

（可检测是否有无线网卡来尝试连接无线，热点等等）：

iwconfig

结果：

eno1      no wireless extensions.

lo        no wireless extensions.

没有，，，

于是只好重来N次:

rosdep update

6.初始化环境变量

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

7.安装building package的依赖

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