VM安装ros

安装vim

sudo apt-get install vim

更改镜像源

先备份
sudo cp /etc/apt/sources.list /etc/apt/sources.list.bak
然后编辑
sudo vim /etc/apt/sources.list
将原来的删除，改用清华的

# 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-security main restricted universe multiverse

运行
sudo apt-get update
报错
Problem executing scripts APT::Update::Post-Invoke-Success 'if /usr/bin/test -w /var/
解决

sudo pkill -KILL appstreamcli

wget -P /tmp https://launchpad.net/ubuntu/+archive/primary/+files/appstream_0.9.4-1ubuntu1_amd64.deb https://launchpad.net/ubuntu/+archive/primary/+files/libappstream3_0.9.4-1ubuntu1_amd64.deb

sudo dpkg -i /tmp/appstream_0.9.4-1ubuntu1_amd64.deb /tmp/libappstream3_0.9.4-1ubuntu1_amd64.deb

再次运行

安装ros

https://blog.csdn.net/weixin_43159148/article/details/83375218

https://blog.csdn.net/fdzhl/article/details/80832774

gazebo加载慢

解决方案如下：

1. https://bitbucket.org/osrf/gazebo_models/downloads/ 下载文件

2. 在home文件下找到.gazebo这个文件夹目录（这里这个目录是隐藏的，Ctrl+h显示隐藏目录），在这个文件下创建models文件夹，并把我们下载的内容解压到我们的models文件夹下，这样在打开gazebo机会立即显示出来空白世界。

gazebo报错

[gazebo_gui-3] process has died [pid 2432, exit code 134, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/zcs/.ros/log/bf12bd1c-127e-11ea-827d-000c2994fa15/gazebo_gui-3.log]. log file: /home/zcs/.ros/log/bf12bd1c-127e-11ea-827d-000c2994fa15/gazebo_gui-3*.log

解决
sudo vim ~/.bashrc
在最后添加
export SVGA_VGPU10=0
重新打开终端运行即可