Ubuntu16安装ROS遇到的问题及解决方案

1. Unable to correct problems, you have held broken packages

安装步骤

到下面一步时

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

Depends: ros-kinetic-common-tutorials but it is not going to be installed

   Depends: ros-kinetic-geometry-tutorials but it is not going to be installed
   Depends: ros-kinetic-robot but it is not going to be installed
   Depends: ros-kinetic-ros-tutorials but it is not going to be installed
   Depends: ros-kinetic-urdf-tutorial but it is not going to be installed
   Depends: ros-kinetic-visualization-tutorials but it is not going to be installed
   Depends: ros-kinetic-viz but it is not going to be installed
E: Unable to correct problems, you have held broken packages.

解决方案

deb http://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse

添加上面的源到 /etc/apt/sources.list

sudo gedit /etc/apt/sources.list.d/ros-latest.list

然后

sudo apt-get update

继续安装

2. The ‘rosdep==0.19.0’ distribution was not found and is required by the application

初始化时

sj@sj-pc:~$ sudo rosdep init
Traceback (most recent call last):
  File "/usr/bin/rosdep", line 6, in <module>
    from pkg_resources import load_entry_point
  File "/usr/local/lib/python3.5/dist-packages/pkg_resources/__init__.py", line 3254, in <module>
    @_call_aside
  File "/usr/local/lib/python3.5/dist-packages/pkg_resources/__init__.py", line 3238, in _call_aside
    f(*args, **kwargs)
  File "/usr/local/lib/python3.5/dist-packages/pkg_resources/__init__.py", line 3267, in _initialize_master_working_set
    working_set = WorkingSet._build_master()
  File "/usr/local/lib/python3.5/dist-packages/pkg_resources/__init__.py", line 584, in _build_master
    ws.require(__requires__)
  File "/usr/local/lib/python3.5/dist-packages/pkg_resources/__init__.py", line 901, in require
    needed = self.resolve(parse_requirements(requirements))
  File "/usr/local/lib/python3.5/dist-packages/pkg_resources/__init__.py", line 787, in resolve
    raise DistributionNotFound(req, requirers)
pkg_resources.DistributionNotFound: The 'rosdep==0.19.0' distribution was not found and is required by the application

解决办法，看完再改
将默认Python改为Python2

sj@sj-pc:~$ sudo update-alternatives --config python
There are 2 choices for the alternative python (providing /usr/bin/python).

  Selection    Path              Priority   Status
------------------------------------------------------------
  0            /usr/bin/python3   150       auto mode
* 1            /usr/bin/python2   100       manual mode
  2            /usr/bin/python3   150       manual mode

Press <enter> to keep the current choice[*], or type selection number: 1