ubuntu16.04/win 双系统+ros【kinetic】_全过程入门级

Ubuntu/win 双系统的安装：

1.ubuntu16.04系统安装

ubuntu16.04下载地址：
中科大源
阿里云开源镜像站
兰州大学开源镜像站
　北京理工大学开源
浙大

2.给ubuntu分空间
在安装双系统前，你需要给ubuntu分出来大概100G【80个G也行，最少50个吧。。。。】的空间以便安装不会破坏你的windows的文件
右键win，打开你的磁盘管理，从你的除了系统盘之外的盘里分出100G的空间【右键你想划出空间的盘，点击压缩卷，输入压缩空间量102400】，之后不用给卷名。

3.Ubuntu16.04启动盘的写入
下载SD Card Formatter【格式化u盘的工具】，下载好后打开，
选择好u盘，
Quick format【快速格式化】
Volume label【输入硬盘卷标，让你给你的硬盘起个名称，也可以不起名直接格式化】，
Format就行啦
【注意：格式化前备份好u盘资料】

下载win32diskimager【把镜像写入u盘的工具】
选择你的ubuntu16.04镜像软件，然后选择你读写的u盘，写入就行啦

至此，u盘已经做好成为ubuntu16.04启动盘

4.ubuntu16.04的安装
插入u盘，重启电脑，疯狂按F12进入你的bios【大多数电脑是F12，个别是其他，看好电脑的类别操作】
然后在bios里往右看到最后一个选项分区，选择你的u盘【这一步是读入你的启动盘】
接着会有一个选择界面，选择第二个选项，install。。。，就能进入安装的界面啦，根据你的喜好设置语言时区之类的，之后会有一个安装Ubuntu时下载更新，不要选，会自动把你的ubuntu升级到18.04，18.04新版本不适配ros，，，下面那个图形或无线文件之类的什么的可以选，然后就到分区了
选择其他选项【要是安装过Ubuntu的话可以选择第一个重装】
你会在接下来的窗口中看到你的所有磁盘分区，找到你为你的ubuntu划分的空间，大概102400左右的就是啦，然后选择那个空间，点击的“+”创建4个主要的基础分区
Swap（相当于电脑内存）：逻辑分区、大小设置为电脑内存大小，2G，4G；
/boot（引导分区）：主分区：大小设置为200M；
/home（用户存储数据用）：逻辑分区，要尽可能大，100G空间可以设置为85G，留10G给主分区即可。
/.（主分区）：主分区，用于存放系统，相当于C盘，10G即可。
接着就继续安装就开始安装啦

二.ros环境的配置

1.换源【东大的源。。。】
安装好Ubuntu16.04后，首先需要给你的Ubuntu换源，因为国外源下载起来很慢，而且不稳定，所以需要更换国内的源
进入/etc/apt/这个文件夹
cd /etc/apt
在修改前先对 sources.list文件进行备份
sudo cp sources.list sources.list.bak
修改sources.list文件

sudo nano sources.list

修改源码【源码如下，之前的都删了改成这样就行】：
#deb cdrom:[Ubuntu 16.04.4 LTS _Xenial Xerus_ - Release amd64 (20180228)]/ xenial main restricted

# See http://help.ubuntu.com/community/UpgradeNotes for how to upgrade to
# newer versions of the distribution.
deb http://cn.archive.ubuntu.com/ubuntu/ xenial main restricted
# deb-src http://cn.archive.ubuntu.com/ubuntu/ xenial main restricted

## Major bug fix updates produced after the final release of the
## distribution.
deb http://cn.archive.ubuntu.com/ubuntu/ xenial-updates main restricted
# deb-src http://cn.archive.ubuntu.com/ubuntu/ xenial-updates main restricted

## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu
## team. Also, please note that software in universe WILL NOT receive any
## review or updates from the Ubuntu security team.
deb http://cn.archive.ubuntu.com/ubuntu/ xenial universe
# deb-src http://cn.archive.ubuntu.com/ubuntu/ xenial universe
deb http://cn.archive.ubuntu.com/ubuntu/ xenial-updates universe
# deb-src http://cn.archive.ubuntu.com/ubuntu/ xenial-updates universe

## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu 
## team, and may not be under a free licence. Please satisfy yourself as to 
## your rights to use the software. Also, please note that software in 
## multiverse WILL NOT receive any review or updates from the Ubuntu
## security team.
deb http://cn.archive.ubuntu.com/ubuntu/ xenial multiverse
# deb-src http://cn.archive.ubuntu.com/ubuntu/ xenial multiverse
deb http://cn.archive.ubuntu.com/ubuntu/ xenial-updates multiverse
# deb-src http://cn.archive.ubuntu.com/ubuntu/ xenial-updates multiverse

## N.B. software from this repository may not have been tested as
## extensively as that contained in the main release, although it includes
## newer versions of some applications which may provide useful features.
## Also, please note that software in backports WILL NOT receive any review
## or updates from the Ubuntu security team.
deb http://cn.archive.ubuntu.com/ubuntu/ xenial-backports main restricted universe multiverse
# deb-src http://cn.archive.ubuntu.com/ubuntu/ xenial-backports main restricted universe multiverse

## Uncomment the following two lines to add software from Canonical's
## 'partner' repository.
## This software is not part of Ubuntu, but is offered by Canonical and the
## respective vendors as a service to Ubuntu users.
deb http://archive.canonical.com/ubuntu xenial partner
# deb-src http://archive.canonical.com/ubuntu xenial partner

deb http://security.ubuntu.com/ubuntu xenial-security main restricted
# deb-src http://security.ubuntu.com/ubuntu xenial-security main restricted
deb http://security.ubuntu.com/ubuntu xenial-security universe
# deb-src http://security.ubuntu.com/ubuntu xenial-security universe
deb http://security.ubuntu.com/ubuntu xenial-security multiverse
# deb-src http://security.ubuntu.com/ubuntu xenial-security multiverse
#deb-src http://mirror.neu.edu.cn/ubuntu/ xenial main restricted #Added by software-properties

deb http://mirror.neu.edu.cn/ubuntu/ xenial main restricted

#deb-src http://mirror.neu.edu.cn/ubuntu/ xenial restricted multiverse universe #Added by software-properties

deb http://mirror.neu.edu.cn/ubuntu/ xenial-updates main restricted

#deb-src http://mirror.neu.edu.cn/ubuntu/ xenial-updates main restricted multiverse universe #Added by software-properties

deb http://mirror.neu.edu.cn/ubuntu/ xenial universe

deb http://mirror.neu.edu.cn/ubuntu/ xenial-updates universe

deb http://mirror.neu.edu.cn/ubuntu/ xenial multiverse

deb http://mirror.neu.edu.cn/ubuntu/ xenial-updates multiverse

deb http://mirror.neu.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse

#deb-src http://mirror.neu.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse #Added by software-properties

deb http://archive.canonical.com/ubuntu xenial partner
#deb-src http://archive.canonical.com/ubuntu xenial partner

deb http://mirror.neu.edu.cn/ubuntu/ xenial-security main restricted

#deb-src http://mirror.neu.edu.cn/ubuntu/ xenial-security main restricted multiverse universe #Added by software-properties

deb http://mirror.neu.edu.cn/ubuntu/ xenial-security universe

deb http://mirror.neu.edu.cn/ubuntu/ xenial-security multiverse

deb http://cn.archive.ubuntu.com/ubuntu/ xenial-proposed main multiverse universe restricted

然后ctrl+o【write out】保存，回车，然后ctrl+x退出编辑
更新源【每次换源之后都要更新一哈】
sudo apt-get update
更新软件
sudo apt-get upgrade

2.ros-kinetic的安装
方法一：脚本安装
wget https://raw.githubusercontent.com/oroca/oroca-ros-pkg/kinetic/ros_install.sh && chmod 755 ./ros_install.sh && bash ./ros_install.sh catkin_ws kinetic
如果不成功，走方法二
方法二：源码安装
1.更新源
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'
2.增加key

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 0xB01FA116

3.更新

sudo apt-get update

1. 安装，这里介绍Desktop-Full安装: (Recommended) : ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception

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

5.解决依赖

sudo rosdep init
rosdep update

6.环境设置

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

1. 安装rosinstall,便利的工具

sudo apt-get install python-rosinstall

至此，ros环境搭配成功