1、设置sources.list
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key(公钥已更新)
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
3、更新package
sudo apt-get update
4、安装ROS kinetic完整版
sudo apt-get install ros-kinetic-desktop-full
5、初始化rosdep
注意:在使用ROS之前需要初始化rosdep
sudo rosdep init
rosdep update
6、配置ROS环境
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
7、安装依赖项
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
8、测试ROS是否安装成功
(1)打开第一个终端,启动ROS Master
roscore
(2) 打开第二个终端,启动小海龟仿真器
rosrun turtlesim turtlesim_node
(3)打开第三个终端,启动小海龟控制节点
rosrun turtlesim turtle_teleop_key