Ubuntu上安装turtlebot_stage进行SLAM仿真（ROS Kinetic版本）

首先可以尝试如下命令

sudo apt-get install ros-kinetic-turtlebot*

如果有问题可以尝试

sudo apt-get install -y linux-headers-generic
sudo sh -c 'echo "deb-src http://us.archive.ubuntu.com/ubuntu/ xenial main restricted
deb-src http://us.archive.ubuntu.com/ubuntu/ xenial-updates main restricted
deb-src http://us.archive.ubuntu.com/ubuntu/ xenial-backports main restricted universe multiverse
deb-src http://security.ubuntu.com/ubuntu xenial-security main restricted" > \
  /etc/apt/sources.list.d/official-source-repositories.list'
sudo apt-get update
sudo apt-get install -y ros-kinetic-librealsense
sudo apt-get install -y ros-kinetic-librealsense-camera
sudo apt-get install -y ros-kinetic-turtlebot

安装完成后尝试运行

$roslaunch turtlebot_stage turtlebot_in_stage.launch

如果出现TURTLEBOT_STAGE_MAP_FILE Unset：$gedit ~/.bashrc 添加以下两行后保存

export TURTLEBOT_STAGE_WORLD_FILE="/opt/ros/kinetic/share/turtlebot_stage/maps/stage/maze.world"

export TURTLEBOT_STAGE_MAP_FILE="/opt/ros/kinetic/share/turtlebot_stage/maps/maze.yaml"

重新启动Terminal