Ros install (ubuntu16.04+kinetic)

###参考：http://wiki.ros.org/cn/kinetic/Installation/Ubuntu

###基础环境

ubuntu 16.04 x86_64

 

_*注意事项*_

ubuntu 版本必须使用64位16.04

 

###1，设置源

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

 

###2，设置密钥

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

 

###3，更新源

sudo apt-get update; sudo apt-get upgrade

 

###4，安装ROS

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

 

###5，初始化rosdep

sudo rosdep init

 

###6，更新rosdep

rosdep update

 

###7，设置环境变量

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

 

###8，更新环境变量配置

source ~/.bashrc

###9，环境测试

打开新的终端，输入roscore 如无错误信息，则表示环境安装成功

 

_*注意事项*_

如果执行第4步出现下面的错误，使用如下方式解决,切勿重启，否则会导致系统无法正常启动

安装错误：

Errors were encountered while processing:

/var/cache/apt/archives/python-rosdistro-modules_0.7.0-1_all.deb

/var/cache/apt/archives/python-rosdistro_0.7.0-100_all.deb

E: Sub-process /usr/bin/dpkg returned an error code (1)

解决方案：

sudo apt-get purge ros-*

sudo apt-get update

sudo apt-get upgrade

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