Ubuntu16.04 LTS 安装 ros kinetic

参考网址

ROS的官方wiki:Ubuntu install of ROS Kinetic

1.设置软件中心

Configure your Ubuntu repositories to allow “restricted,” “universe,” and “multiverse.” You can follow the Ubuntu guide for instructions on doing this.

2.设置sources.list

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

3.设置密钥keys

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

4.安装

安装前得先update，更新软件源：

sudo apt-get update

然后官方网站上给出了几种安装选项：

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

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

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

sudo apt-get install ros-kinetic-desktop

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

sudo apt-get install ros-kinetic-ros-base

Individual Package: You can also install a specific ROS package (replace underscores with dashes of the package name):

sudo apt-get install ros-kinetic-PACKAGE

e.g.

sudo apt-get install ros-kinetic-slam-gmapping

如果要查看能够使用的软件包，可以用如下命令：

apt-cache search ros-kinetic

5.初始化

sudo rosdep init
rosdep update

6.设置环境

配置环境变量：

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

7.安装工具

为了编译一些ros的安装包，需要安装以下工具和依赖项：

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