ROS安装（ROS Kinetic，系统：Ubuntu16.04）

常规安装

设置网络时间协议（NTP）

#将时间误差缩短到最小
$ sudo apt-get install -y chrony ntpdate
$ sudo ntpdate -q ntp.ubuntu.com

添加代码列表

#在ros-latest.list添加ROS版本库（官方源）
$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
#选择ROS中国科学技术大学（USTC）镜像源
$ sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

设置公钥（Key）

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

更新软件包索引

$ sudo apt-get update && sudo apt-get upgrade -y

安装ROS Kinetic Kame

$ sudo apt-get install ros-kinetic-desktop-full
#安装所有额外的rqt相关的软件包
$ sudo apt-get install ros-kinetic-rqt*

初始化rosdep

$ sudo rosdep init
$ rosdep update

安装rosinstall

$ sudo apt-get install python-rosinstall

加载环境配置文件

$ source /opt/ros/kinetic/setup.bash

创建并初始化工作目录

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace

$ cd ~/catkin_ws/
$ catkin_make

ROS配置

$ gedit ~/.bashrc

#在文件中写入以下内容
# Set ROS Kinetic
source /opt/ros/kinetic/setup.bash
source ~/catkin_ws/devel/setup.bash
# Set ROS Network
export ROS_HOSTNAME=xxx.xxx.xxx.xxx
export ROS_MASTER_URI=http://${ROS_HOSTNAME}:11311
# Set ROS alias command
alias cw='cd ~/catkin_ws'
alias cs='cd ~/catkin_ws/src'
alias cm='cd ~/catkin_ws && catkin_make'

测试安装结果

$ source ~/.bashrc
$ roscore

简易安装

$ wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros_kinetic.sh
$ chmod 755 ./install_ros_kinetic.sh
$ bash ./install_ros_kinetic.sh