Ubuntu 16.04 安装 ROS

Robot Operating System (ROS) 是一个得到广泛应用机器人系统的软件框架，它包含了一系列的软件库和工具用于构建机器人应用。从驱动到最先进的算法，以及强大的开发者工具，ROS 包含了开发一个机器人项目所需要的所有东西。且它们都是开源的。

ROS 虽然名为机器人操作系统，但它与我们一般概念中的操作系统，如 Windows，Linux，iOS 和 Android 这些。Windows，Linux，iOS 和 Android 这些操作系统为我们管理计算机的物理硬件资源，如 CPU、内存、磁盘、网络及外设，提供如进程、线程和文件这样的抽象，并提供如读文件、写文件、创建进程、创建线程及启动线程这样的操作。ROS 所工作的层级并没有这么低，它基于一般概念中的操作系统来运行，官方推荐基于 Ubuntu Linux 运行，并在 Ubuntu Linux 操作系统提供的抽象和操作的基础之上，提供了更高层的抽象，如节点、服务、消息、主题等，以及更高层的操作，如主题的发布、主题的订阅、服务的查询与连接等操作。同时 ROS 还提供开发机器人项目所需的工具和功能库。

ROS 发行版是一个版本标识的 ROS 包集合，这些与 Linux 发行版（如 Ubuntu）类似。ROS 发行版的目的是让开发者可以基于一个相对稳定的代码库来工作，直到他们可以平稳地向前演进。一旦发行版发布，官方就会限制对其的改动，而仅仅提供对于核心包的 bug fixes 和非破坏性的增强。

当前（2018-01-28） ROS 系统已经发布了多个版本。ROS 最新的一些版本如下：

ROS 系统版本	时间发布	支持时间
ROS Lunar Loggerhead	May 23rd, 2017	May, 2019
ROS Kinetic Kame	May 23rd, 2016	LTS，April, 2021 (Xenial EOL)
ROS Jade Turtle	May 23rd, 2015	May, 2017
ROS Indigo Igloo	July 22nd, 2014	LTS，April, 2019(Trusty EOL)
ROS Hydro Medusa	September 4th, 2013	May, 2015

ROS 基本上保持每年一个新版本，每两年一个长期发行版的发布节奏。关于 ROS 版本发布的更多内容，如更多的发行版的介绍，发布的计划等，可以参考 ROS 官方站点的 Distributions 主页。

目前官方推荐使用最近的一个长期支持版本，即 ROS Kinetic Kame，求新的同时兼顾稳定性无疑应该采用这一版本，如果想要尝试最新的功能特性则可以使用最新的发行版 ROS Lunar Loggerhead。

ROS 的安装步骤如下。

配置 Ubuntu 仓库

配置 Ubuntu 仓库，以允许 “restricted”，”universe” 和 “multiverse”。打开 新立得包管理器，如下图：

选择 设置 -> 软件库(R)，弹出如下对话框：

打开 “Ubuntu 软件” Tab 页，勾选 “restricted”，”universe” 和 “multiverse” 等选项，如上图所示。通常情况下，这些选项都是默认选中的，因此这一步一般不会遇到什么问题。

设置 sources.list

为 Ubuntu 的包管理器增加源，设置计算机接受来自于 packages.ros.org 的软件。

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

这一步会根据 Ubuntu Linux 发行版本的不同，添加不同的源。Ubuntu 的版本通过 lsb_release -sc 获得。

一旦添加了正确的软件库，操作系统就知道去哪里下载程序，并根据命令自动安装软件。

设置密钥

这一步是为了确认源代码是正确的，并且没有人在未经所有者授权的情况下，修改任何程序代码。通常情况下，当添加完软件库时，已经添加了软件库的密钥，并将其添加到操作系统的可信任列表中。

设置密钥的命令如下：

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

如果在连接密钥服务器时遇到了问题，可以尝试在上面的命令中用 hkp://pgp.mit.edu:80 或 hkp://keyserver.ubuntu.com:80 来替换。

安装

首先，需要确保包管理器的索引已经更新至最新：

sudo apt-get update

ROS 中有非常多不同的库和工具。官方提供了四种默认的配置来安装 ROS。也可以独立地安装 ROS 包。

桌面完整安装（推荐采用）：ROS，rqt, rviz，机器人通用库，2D/3D 仿真器，导航及 2D/3D 感知

$ sudo apt-get install ros-kinetic-desktop-full
正在读取软件包列表... 完成
正在分析软件包的依赖关系树       
正在读取状态信息... 完成       
. . . . . .
将会同时安装下列软件：
  binfmt-support blt cpp-5 docutils-common docutils-doc fltk1.3-doc fluid fonts-lyx freeglut3 freeglut3-dev g++-5
  g++-5-multilib gazebo7 gazebo7-common gazebo7-plugin-base gcc-5 gcc-5-base gcc-5-base:i386 gcc-5-multilib
  gfortran gfortran-5 hddtemp hdf5-helpers lib32asan2 lib32atomic1 lib32cilkrts5 lib32gcc-5-dev lib32gomp1
  lib32itm1 lib32mpx0 lib32quadmath0 lib32stdc++-5-dev lib32stdc++6 lib32ubsan0 libaec-dev libaec0 libapr1-dev
  libaprutil1-dev libarmadillo6 libarpack2 libasan2 libassimp-dev libassimp3v5 libatomic1 libavcodec-dev
  libavformat-dev libavutil-dev libblas-dev libboost-all-dev libboost-atomic-dev libboost-atomic1.58-dev
  libboost-atomic1.58.0 libboost-chrono-dev libboost-chrono1.58-dev libboost-chrono1.58.0 libboost-context-dev
  libboost-context1.58-dev libboost-context1.58.0 libboost-coroutine-dev libboost-coroutine1.58-dev
  libboost-coroutine1.58.0 libboost-date-time-dev libboost-date-time1.58-dev libboost-dev libboost-exception-dev
  libboost-exception1.58-dev libboost-filesystem-dev libboost-filesystem1.58-dev libboost-graph-dev
  libboost-graph-parallel-dev libboost-graph-parallel1.58-dev libboost-graph-parallel1.58.0
  libboost-graph1.58-dev libboost-graph1.58.0 libboost-iostreams-dev libboost-iostreams1.58-dev
  libboost-locale-dev libboost-locale1.58-dev libboost-locale1.58.0 libboost-log-dev libboost-log1.58-dev
  libboost-log1.58.0 libboost-math-dev libboost-math1.58-dev libboost-math1.58.0 libboost-mpi-dev
  libboost-mpi-python-dev libboost-mpi-python1.58-dev libboost-mpi-python1.58.0 libboost-mpi1.58-dev
  libboost-mpi1.58.0 libboost-program-options-dev libboost-program-options1.58-dev libboost-python-dev
  libboost-python1.58-dev libboost-python1.58.0 libboost-random-dev libboost-random1.58-dev libboost-random1.58.0
  libboost-regex-dev libboost-regex1.58-dev libboost-regex1.58.0 libboost-serialization-dev
  libboost-serialization1.58-dev libboost-serialization1.58.0 libboost-signals-dev libboost-signals1.58-dev
  libboost-signals1.58.0 libboost-system-dev libboost-system1.58-dev libboost-test-dev libboost-test1.58-dev
  libboost-test1.58.0 libboost-thread-dev libboost-thread1.58-dev libboost-timer-dev libboost-timer1.58-dev
  libboost-timer1.58.0 libboost-tools-dev libboost-wave-dev libboost-wave1.58-dev libboost-wave1.58.0
  libboost1.58-dev libboost1.58-tools-dev libbulletcollision2.83.6 libbulletdynamics2.83.6 libcc1-0 libcilkrts5
  libcollada-dom2.4-dp-dev libcollada-dom2.4-dp0 libconsole-bridge-dev libconsole-bridge0.2v5
  libcurl4-openssl-dev libdap-dev libdap17v5 libdapclient6v5 libdapserver7v5 libeigen3-dev libepsilon1
  libflann-dev libflann1.8 libfltk-cairo1.3 libfltk-forms1.3 libfltk-gl1.3 libfltk-images1.3 libfltk1.3
  libfltk1.3-dev libfreeimage-dev libfreeimage3 libfreexl1 libgazebo7 libgazebo7-dev libgcc-5-dev libgdal-dev
  libgdal1i libgeos-3.5.0 libgeos-c1v5 libgeos-dev libgfortran-5-dev libgfortran3 libgif-dev libgl2ps-dev
  libgl2ps0 libglade2-0 libgomp1 libgtest-dev libgts-0.7-5 libgts-bin libgts-dev libhdf4-0-alt libhdf4-alt-dev
  libhdf5-10 libhdf5-cpp-11 libhdf5-dev libhdf5-mpi-dev libhdf5-openmpi-10 libhdf5-openmpi-dev libhwloc-dev
  libhwloc-plugins libhwloc5 libibverbs-dev libibverbs1 libignition-math2 libignition-math2-dev libinput-bin
  libinput-dev libinput10 libitm1 libjasper-dev libjbig-dev libjs-jquery-ui libjsoncpp-dev libjxr0 libkmlbase1
  libkmldom1 libkmlengine1 liblapack-dev libldap2-dev liblinearmath2.83.6 liblog4cxx-dev liblog4cxx10-dev
  liblog4cxx10v5 liblsan0 liblz4-dev liblzma-dev libminizip1 libmpx0 libmysqlclient-dev libmysqlclient20
  libnetcdf-c++4 libnetcdf-cxx-legacy-dev libnetcdf-dev libnetcdf11 libnuma-dev libodbc1 libogdi3.2 libogg-dev
  libogre-1.9-dev libogre-1.9.0v5 libopenjp2-7 libopenmpi-dev libopenmpi1.10 libopenni-dev
  libopenni-sensor-pointclouds0 libopenni0 libpcl-apps1.7 libpcl-common1.7 libpcl-dev libpcl-features1.7
  libpcl-filters1.7 libpcl-io1.7 libpcl-kdtree1.7 libpcl-keypoints1.7 libpcl-octree1.7 libpcl-outofcore1.7
  libpcl-people1.7 libpcl-recognition1.7 libpcl-registration1.7 libpcl-sample-consensus1.7 libpcl-search1.7
  libpcl-segmentation1.7 libpcl-surface1.7 libpcl-tracking1.7 libpcl-visualization1.7 libpcl1.7 libpoco-dev
  libpococrypto9v5 libpocodata9v5 libpocofoundation9v5 libpocomysql9v5 libpoconet9v5 libpoconetssl9v5
  libpocoodbc9v5 libpocosqlite9v5 libpocoutil9v5 libpocoxml9v5 libpocozip9v5 libpq-dev libproj-dev libproj9
  libprotoc-dev libprotoc9v5 libpyside-py3-2.0 libpyside2-dev libpyside2.0 libqhull-dev libqhull7 libqt4-dev
  libqt4-dev-bin libqt4-help libqt4-opengl-dev libqt4-scripttools libqt4-test libqt5clucene5 libqt5concurrent5
  libqt5core5a libqt5dbus5 libqt5designer5 libqt5designercomponents5 libqt5gui5 libqt5help5
  libqt5multimediaquick-p5 libqt5network5 libqt5opengl5 libqt5opengl5-dev libqt5printsupport5
  libqt5quickparticles5 libqt5scripttools5 libqt5sql5 libqt5svg5-dev libqt5test5 libqt5webkit5-dev libqt5widgets5
  libqt5x11extras5-dev libqt5xml5 libqt5xmlpatterns5 libqt5xmlpatterns5-dev libqt5xmlpatterns5-private-dev
  libqtwebkit-dev libquadmath0 libsdformat4 libsdformat4-dev libshiboken-py3-2.0 libshiboken2-dev libshiboken2.0
  libsimbody-dev libsimbody3.5v5 libspatialite-dev libspatialite7 libspnav0 libstdc++-5-dev libstdc++6
  libstdc++6:i386 libsuperlu4 libswresample-dev libswscale-dev libsz2 libtar-dev libtar0 libtbb-dev libtheora-dev
  libtiff5-dev libtiffxx5 libtinyxml-dev libtinyxml2-2v5 libtinyxml2-dev libtsan0 libubsan0 liburdfdom-dev
  liburdfdom-headers-dev liburdfdom-model-state0.4 liburdfdom-model0.4 liburdfdom-sensor0.4 liburdfdom-tools
  liburdfdom-world0.4 liburiparser1 libusb-1.0-0-dev libusb-1.0-doc libuuid1 libvtk-java libvtk5.10 libvtk6-dev
  libvtk6-java libvtk6-qt-dev libvtk6.2 libvtk6.2-qt libwacom-bin libwacom-common libwacom2 libwebp-dev
  libwebpdemux1 libx32asan2 libx32atomic1 libx32cilkrts5 libx32gcc-5-dev libx32gomp1 libx32itm1 libx32quadmath0
  libx32stdc++-5-dev libx32stdc++6 libx32ubsan0 libxerces-c-dev libxerces-c3.1 libxmu-dev libxmu-headers
  libyaml-cpp-dev libzzip-0-13 mpi-default-bin mpi-default-dev ocl-icd-libopencl1 odbcinst odbcinst1debian2
  openmpi-bin openmpi-common openni-utils proj-bin proj-data pyqt5-dev python-attr python-autobahn
  python-catkin-pkg python-catkin-pkg-modules python-chardet python-concurrent.futures python-cycler
  python-defusedxml python-docutils python-ecdsa python-empy python-glade2 python-gobject-2 python-gtk2
  python-imaging python-lz4 python-matplotlib python-matplotlib-data python-mpi4py python-msgpack
  python-netifaces python-nose python-opengl python-pam python-paramiko python-pil python-pyasn1-modules
  python-pydot python-pygments python-pyqt5 python-pyqt5.qtopengl python-pyqt5.qtsvg python-pyqt5.qtwebkit
  python-pyside2 python-pyside2.qtconcurrent python-pyside2.qtcore python-pyside2.qtgui python-pyside2.qthelp
  python-pyside2.qtnetwork python-pyside2.qtprintsupport python-pyside2.qtqml python-pyside2.qtquick
  python-pyside2.qtquickwidgets python-pyside2.qtscript python-pyside2.qtsql python-pyside2.qtsvg
  python-pyside2.qttest python-pyside2.qtuitools python-pyside2.qtwebkit python-pyside2.qtwebkitwidgets
  python-pyside2.qtwidgets python-pyside2.qtx11extras python-pyside2.qtxml python-roman python-rosdep
  python-rosdistro python-rosdistro-modules python-rospkg python-rospkg-modules python-serial
  python-service-identity python-sip python-sip-dev python-snappy python-tk python-trollius python-twisted
  python-twisted-bin python-twisted-core python-txaio python-vtk6 python-wxgtk3.0 python-wxtools python-wxversion
  python-zope.interface qt4-linguist-tools qt4-qmake qt5-qmake qtbase5-dev qtbase5-dev-tools qtbase5-private-dev
  qtdeclarative5-dev qtdeclarative5-private-dev qtmultimedia5-dev qtscript5-dev qtscript5-private-dev
  qttools5-dev qttools5-dev-tools qttools5-private-dev ros-kinetic-actionlib ros-kinetic-actionlib-msgs
  ros-kinetic-actionlib-tutorials ros-kinetic-angles ros-kinetic-bond ros-kinetic-bond-core ros-kinetic-bondcpp
  ros-kinetic-bondpy ros-kinetic-camera-calibration ros-kinetic-camera-calibration-parsers
  ros-kinetic-camera-info-manager ros-kinetic-catkin ros-kinetic-class-loader ros-kinetic-cmake-modules
  ros-kinetic-collada-parser ros-kinetic-collada-urdf ros-kinetic-common-msgs ros-kinetic-common-tutorials
  ros-kinetic-compressed-depth-image-transport ros-kinetic-compressed-image-transport ros-kinetic-control-msgs
  ros-kinetic-cpp-common ros-kinetic-cv-bridge ros-kinetic-depth-image-proc ros-kinetic-desktop
  ros-kinetic-diagnostic-aggregator ros-kinetic-diagnostic-analysis ros-kinetic-diagnostic-common-diagnostics
  ros-kinetic-diagnostic-msgs ros-kinetic-diagnostic-updater ros-kinetic-diagnostics
  ros-kinetic-dynamic-reconfigure ros-kinetic-eigen-conversions ros-kinetic-eigen-stl-containers
  ros-kinetic-executive-smach ros-kinetic-filters ros-kinetic-gazebo-dev ros-kinetic-gazebo-msgs
  ros-kinetic-gazebo-plugins ros-kinetic-gazebo-ros ros-kinetic-gazebo-ros-pkgs ros-kinetic-gencpp
  ros-kinetic-geneus ros-kinetic-genlisp ros-kinetic-genmsg ros-kinetic-gennodejs ros-kinetic-genpy
  ros-kinetic-geometric-shapes ros-kinetic-geometry ros-kinetic-geometry-msgs ros-kinetic-geometry-tutorials
  ros-kinetic-gl-dependency ros-kinetic-image-common ros-kinetic-image-geometry ros-kinetic-image-pipeline
  ros-kinetic-image-proc ros-kinetic-image-publisher ros-kinetic-image-rotate ros-kinetic-image-transport
  ros-kinetic-image-transport-plugins ros-kinetic-image-view ros-kinetic-interactive-marker-tutorials
  ros-kinetic-interactive-markers ros-kinetic-joint-state-publisher ros-kinetic-kdl-conversions
  ros-kinetic-kdl-parser ros-kinetic-laser-assembler ros-kinetic-laser-filters ros-kinetic-laser-geometry
  ros-kinetic-laser-pipeline ros-kinetic-librviz-tutorial ros-kinetic-map-msgs ros-kinetic-media-export
  ros-kinetic-message-filters ros-kinetic-message-generation ros-kinetic-message-runtime ros-kinetic-mk
  ros-kinetic-nav-msgs ros-kinetic-nodelet ros-kinetic-nodelet-core ros-kinetic-nodelet-topic-tools
  ros-kinetic-nodelet-tutorial-math ros-kinetic-octomap ros-kinetic-opencv3 ros-kinetic-orocos-kdl
  ros-kinetic-pcl-conversions ros-kinetic-pcl-msgs ros-kinetic-pcl-ros ros-kinetic-perception
  ros-kinetic-perception-pcl ros-kinetic-pluginlib ros-kinetic-pluginlib-tutorials ros-kinetic-polled-camera
  ros-kinetic-python-orocos-kdl ros-kinetic-python-qt-binding ros-kinetic-qt-dotgraph ros-kinetic-qt-gui
  ros-kinetic-qt-gui-cpp ros-kinetic-qt-gui-py-common ros-kinetic-qwt-dependency ros-kinetic-random-numbers
  ros-kinetic-resource-retriever ros-kinetic-robot ros-kinetic-robot-model ros-kinetic-robot-state-publisher
  ros-kinetic-ros ros-kinetic-ros-base ros-kinetic-ros-comm ros-kinetic-ros-core ros-kinetic-ros-tutorials
  ros-kinetic-rosbag ros-kinetic-rosbag-migration-rule ros-kinetic-rosbag-storage ros-kinetic-rosbash
  ros-kinetic-rosboost-cfg ros-kinetic-rosbuild ros-kinetic-rosclean ros-kinetic-rosconsole
  ros-kinetic-rosconsole-bridge ros-kinetic-roscpp ros-kinetic-roscpp-core ros-kinetic-roscpp-serialization
  ros-kinetic-roscpp-traits ros-kinetic-roscpp-tutorials ros-kinetic-roscreate ros-kinetic-rosgraph
  ros-kinetic-rosgraph-msgs ros-kinetic-roslang ros-kinetic-roslaunch ros-kinetic-roslib ros-kinetic-roslint
  ros-kinetic-roslisp ros-kinetic-roslz4 ros-kinetic-rosmake ros-kinetic-rosmaster ros-kinetic-rosmsg
  ros-kinetic-rosnode ros-kinetic-rosout ros-kinetic-rospack ros-kinetic-rosparam ros-kinetic-rospy
  ros-kinetic-rospy-tutorials ros-kinetic-rosservice ros-kinetic-rostest ros-kinetic-rostime ros-kinetic-rostopic
  ros-kinetic-rosunit ros-kinetic-roswtf ros-kinetic-rqt-action ros-kinetic-rqt-bag ros-kinetic-rqt-bag-plugins
  ros-kinetic-rqt-common-plugins ros-kinetic-rqt-console ros-kinetic-rqt-dep ros-kinetic-rqt-graph
  ros-kinetic-rqt-gui ros-kinetic-rqt-gui-cpp ros-kinetic-rqt-gui-py ros-kinetic-rqt-image-view
  ros-kinetic-rqt-launch ros-kinetic-rqt-logger-level ros-kinetic-rqt-moveit ros-kinetic-rqt-msg
  ros-kinetic-rqt-nav-view ros-kinetic-rqt-plot ros-kinetic-rqt-pose-view ros-kinetic-rqt-publisher
  ros-kinetic-rqt-py-common ros-kinetic-rqt-py-console ros-kinetic-rqt-reconfigure
  ros-kinetic-rqt-robot-dashboard ros-kinetic-rqt-robot-monitor ros-kinetic-rqt-robot-plugins
  ros-kinetic-rqt-robot-steering ros-kinetic-rqt-runtime-monitor ros-kinetic-rqt-rviz
  ros-kinetic-rqt-service-caller ros-kinetic-rqt-shell ros-kinetic-rqt-srv ros-kinetic-rqt-tf-tree
  ros-kinetic-rqt-top ros-kinetic-rqt-topic ros-kinetic-rqt-web ros-kinetic-rviz
  ros-kinetic-rviz-plugin-tutorials ros-kinetic-rviz-python-tutorial ros-kinetic-self-test
  ros-kinetic-sensor-msgs ros-kinetic-shape-msgs ros-kinetic-simulators ros-kinetic-smach ros-kinetic-smach-msgs
  ros-kinetic-smach-ros ros-kinetic-smclib ros-kinetic-stage ros-kinetic-stage-ros ros-kinetic-std-msgs
  ros-kinetic-std-srvs ros-kinetic-stereo-image-proc ros-kinetic-stereo-msgs ros-kinetic-tf
  ros-kinetic-tf-conversions ros-kinetic-tf2 ros-kinetic-tf2-eigen ros-kinetic-tf2-geometry-msgs
  ros-kinetic-tf2-kdl ros-kinetic-tf2-msgs ros-kinetic-tf2-py ros-kinetic-tf2-ros
  ros-kinetic-theora-image-transport ros-kinetic-topic-tools ros-kinetic-trajectory-msgs
  ros-kinetic-turtle-actionlib ros-kinetic-turtle-tf ros-kinetic-turtle-tf2 ros-kinetic-turtlesim
  ros-kinetic-urdf ros-kinetic-urdf-parser-plugin ros-kinetic-urdf-tutorial ros-kinetic-vision-opencv
  ros-kinetic-visualization-marker-tutorials ros-kinetic-visualization-msgs ros-kinetic-visualization-tutorials
  ros-kinetic-viz ros-kinetic-webkit-dependency ros-kinetic-xacro ros-kinetic-xmlrpcpp sbcl sdformat-sdf
  shiboken2 sip-dev tango-icon-theme tcl-dev tcl-vtk6 tcl8.6-dev tk-dev tk8.6-blt2.5 tk8.6-dev ttf-bitstream-vera
  ttf-liberation unixodbc unixodbc-dev uuid-dev vtk6
建议安装：
  blt-demo gcc-5-locales gcc-5-doc libstdc++6-5-dbg lib32stdc++6-5-dbg libx32stdc++6-5-dbg gazebo7-doc
  libgomp1-dbg libitm1-dbg libatomic1-dbg libasan2-dbg liblsan0-dbg libtsan0-dbg libubsan0-dbg libcilkrts5-dbg
  libmpx0-dbg libquadmath0-dbg gfortran-multilib gfortran-doc gfortran-5-multilib gfortran-5-doc libgfortran3-dbg
  ksensors liblapack-doc-man liblapack-doc libboost-doc libboost1.58-doc gccxml libmpfrc++-dev libntl-dev doxygen
  default-jdk fop libbullet2-dev libbullet2 libcurl4-doc libcurl3-dbg libidn11-dev librtmp-dev libeigen3-doc
  libmrpt-dev libgdal-doc libgts-doc libhdf4-doc hdf4-tools libnetcdf4 libhdf5-doc libhwloc-contrib-plugins
  libjs-jquery-ui-docs liblog4cxx-doc liblzma-doc netcdf-bin netcdf-doc libmyodbc odbc-postgresql tdsodbc
  unixodbc-bin ogdi-bin ogre-1.9-doc libogre-1.9.0v5-dbg opennmpi-doc openni-doc libpcl-doc libpoco-doc
  libpococrypto9v5-dbg libpocodata9v5-dbg libpocofoundation9v5-dbg libpocomysql9v5-dbg libpoconet9v5-dbg
  libpoconetssl9v5-dbg libpocoodbc9v5-dbg libpocosqlite9v5-dbg libpocoutil9v5-dbg libpocoxml9v5-dbg
  libpocozip9v5-dbg postgresql-doc-9.5 firebird-dev libsqlite0-dev qt4-dev-tools qt4-doc libqt5libqgtk2
  qt5-image-formats-plugins spacenavd libstdc++-5-doc tbb-examples libtbb-doc libtinyxml-doc java-virtual-machine
  libvtk5-dev vtk-doc vtk-examples vtk6-doc vtk6-examples libxerces-c-doc opencl-icd openmpi-checkpoint
  texlive-latex-recommended texlive-latex-base texlive-lang-french fonts-linuxlibertine | ttf-linux-libertine
  python-gtk2-doc python-gobject-2-dbg dvipng inkscape ipython python-cairocffi python-configobj
  python-excelerator python-gobject python-matplotlib-doc python-qt4 python-scipy python-tornado python-traits
  texlive-extra-utils texlive-latex-extra ttf-staypuft python-coverage python-nose-doc libgle3 python-pam-dbg
  python-pil-doc python-pil-dbg python-pyqt5-dbg python-sip-doc tix python-tk-dbg python-twisted-bin-dbg
  python-qt3 python-txaio-doc mayavi2 sbcl-doc sbcl-source slime gnome-icon-theme kdelibs-data tcl-doc tcl8.6-doc
  tk-doc tk8.6-doc
下列软件包将被【卸载】：
  libcurl4-gnutls-dev
下列【新】软件包将被安装：
  binfmt-support blt docutils-common docutils-doc fltk1.3-doc fluid fonts-lyx freeglut3 freeglut3-dev gazebo7
  gazebo7-common gazebo7-plugin-base gfortran gfortran-5 hddtemp hdf5-helpers libaec-dev libaec0 libapr1-dev
  libaprutil1-dev libarmadillo6 libarpack2 libassimp-dev libassimp3v5 libavcodec-dev libavformat-dev
  libavutil-dev libblas-dev libboost-all-dev libboost-atomic-dev libboost-atomic1.58-dev libboost-atomic1.58.0
  libboost-chrono-dev libboost-chrono1.58-dev libboost-chrono1.58.0 libboost-context-dev libboost-context1.58-dev
  libboost-context1.58.0 libboost-coroutine-dev libboost-coroutine1.58-dev libboost-coroutine1.58.0
  libboost-date-time-dev libboost-date-time1.58-dev libboost-dev libboost-exception-dev
  libboost-exception1.58-dev libboost-filesystem-dev libboost-filesystem1.58-dev libboost-graph-dev
  libboost-graph-parallel-dev libboost-graph-parallel1.58-dev libboost-graph-parallel1.58.0
  libboost-graph1.58-dev libboost-graph1.58.0 libboost-iostreams-dev libboost-iostreams1.58-dev
  libboost-locale-dev libboost-locale1.58-dev libboost-locale1.58.0 libboost-log-dev libboost-log1.58-dev
  libboost-log1.58.0 libboost-math-dev libboost-math1.58-dev libboost-math1.58.0 libboost-mpi-dev
  libboost-mpi-python-dev libboost-mpi-python1.58-dev libboost-mpi-python1.58.0 libboost-mpi1.58-dev
  libboost-mpi1.58.0 libboost-program-options-dev libboost-program-options1.58-dev libboost-python-dev
  libboost-python1.58-dev libboost-python1.58.0 libboost-random-dev libboost-random1.58-dev libboost-random1.58.0
  libboost-regex-dev libboost-regex1.58-dev libboost-regex1.58.0 libboost-serialization-dev
  libboost-serialization1.58-dev libboost-serialization1.58.0 libboost-signals-dev libboost-signals1.58-dev
  libboost-signals1.58.0 libboost-system-dev libboost-system1.58-dev libboost-test-dev libboost-test1.58-dev
  libboost-test1.58.0 libboost-thread-dev libboost-thread1.58-dev libboost-timer-dev libboost-timer1.58-dev
  libboost-timer1.58.0 libboost-tools-dev libboost-wave-dev libboost-wave1.58-dev libboost-wave1.58.0
  libboost1.58-dev libboost1.58-tools-dev libbulletcollision2.83.6 libbulletdynamics2.83.6
  libcollada-dom2.4-dp-dev libcollada-dom2.4-dp0 libconsole-bridge-dev libconsole-bridge0.2v5
  libcurl4-openssl-dev libdap-dev libdap17v5 libdapclient6v5 libdapserver7v5 libeigen3-dev libepsilon1
  libflann-dev libflann1.8 libfltk-cairo1.3 libfltk-forms1.3 libfltk-gl1.3 libfltk-images1.3 libfltk1.3
  libfltk1.3-dev libfreeimage-dev libfreeimage3 libfreexl1 libgazebo7 libgazebo7-dev libgdal-dev libgdal1i
  libgeos-3.5.0 libgeos-c1v5 libgeos-dev libgfortran-5-dev libgif-dev libgl2ps-dev libgl2ps0 libglade2-0
  libgtest-dev libgts-0.7-5 libgts-bin libgts-dev libhdf4-0-alt libhdf4-alt-dev libhdf5-10 libhdf5-cpp-11
  libhdf5-dev libhdf5-mpi-dev libhdf5-openmpi-10 libhdf5-openmpi-dev libhwloc-dev libhwloc-plugins libhwloc5
  libibverbs-dev libibverbs1 libignition-math2 libignition-math2-dev libinput-bin libinput-dev libjasper-dev
  libjbig-dev libjs-jquery-ui libjsoncpp-dev libjxr0 libkmlbase1 libkmldom1 libkmlengine1 liblapack-dev
  libldap2-dev liblinearmath2.83.6 liblog4cxx-dev liblog4cxx10-dev liblog4cxx10v5 liblz4-dev liblzma-dev
  libminizip1 libmysqlclient-dev libmysqlclient20 libnetcdf-c++4 libnetcdf-cxx-legacy-dev libnetcdf-dev
  libnetcdf11 libnuma-dev libodbc1 libogdi3.2 libogg-dev libogre-1.9-dev libogre-1.9.0v5 libopenjp2-7
  libopenmpi-dev libopenmpi1.10 libopenni-dev libopenni-sensor-pointclouds0 libopenni0 libpcl-apps1.7
  libpcl-common1.7 libpcl-dev libpcl-features1.7 libpcl-filters1.7 libpcl-io1.7 libpcl-kdtree1.7
  libpcl-keypoints1.7 libpcl-octree1.7 libpcl-outofcore1.7 libpcl-people1.7 libpcl-recognition1.7
  libpcl-registration1.7 libpcl-sample-consensus1.7 libpcl-search1.7 libpcl-segmentation1.7 libpcl-surface1.7
  libpcl-tracking1.7 libpcl-visualization1.7 libpcl1.7 libpoco-dev libpococrypto9v5 libpocodata9v5
  libpocofoundation9v5 libpocomysql9v5 libpoconet9v5 libpoconetssl9v5 libpocoodbc9v5 libpocosqlite9v5
  libpocoutil9v5 libpocoxml9v5 libpocozip9v5 libpq-dev libproj-dev libproj9 libprotoc-dev libprotoc9v5
  libpyside-py3-2.0 libpyside2-dev libpyside2.0 libqhull-dev libqhull7 libqt4-dev libqt4-dev-bin libqt4-help
  libqt4-opengl-dev libqt4-scripttools libqt4-test libqt5clucene5 libqt5concurrent5 libqt5designer5
  libqt5designercomponents5 libqt5help5 libqt5multimediaquick-p5 libqt5opengl5-dev libqt5quickparticles5
  libqt5scripttools5 libqt5svg5-dev libqt5webkit5-dev libqt5x11extras5-dev libqt5xmlpatterns5
  libqt5xmlpatterns5-dev libqt5xmlpatterns5-private-dev libqtwebkit-dev libsdformat4 libsdformat4-dev
  libshiboken-py3-2.0 libshiboken2-dev libshiboken2.0 libsimbody-dev libsimbody3.5v5 libspatialite-dev
  libspatialite7 libspnav0 libsuperlu4 libswresample-dev libswscale-dev libsz2 libtar-dev libtar0 libtbb-dev
  libtheora-dev libtiff5-dev libtiffxx5 libtinyxml-dev libtinyxml2-2v5 libtinyxml2-dev liburdfdom-dev
  liburdfdom-headers-dev liburdfdom-model-state0.4 liburdfdom-model0.4 liburdfdom-sensor0.4 liburdfdom-tools
  liburdfdom-world0.4 liburiparser1 libusb-1.0-0-dev libusb-1.0-doc libvtk-java libvtk5.10 libvtk6-dev
  libvtk6-java libvtk6-qt-dev libvtk6.2 libvtk6.2-qt libwebp-dev libwebpdemux1 libxerces-c-dev libxerces-c3.1
  libxmu-dev libxmu-headers libyaml-cpp-dev libzzip-0-13 mpi-default-bin mpi-default-dev ocl-icd-libopencl1
  odbcinst odbcinst1debian2 openmpi-bin openmpi-common openni-utils proj-bin proj-data pyqt5-dev python-attr
  python-autobahn python-catkin-pkg python-catkin-pkg-modules python-chardet python-concurrent.futures
  python-cycler python-defusedxml python-docutils python-ecdsa python-empy python-glade2 python-gobject-2
  python-gtk2 python-imaging python-lz4 python-matplotlib python-matplotlib-data python-mpi4py python-msgpack
  python-netifaces python-nose python-opengl python-pam python-paramiko python-pil python-pyasn1-modules
  python-pydot python-pygments python-pyqt5 python-pyqt5.qtopengl python-pyqt5.qtsvg python-pyqt5.qtwebkit
  python-pyside2 python-pyside2.qtconcurrent python-pyside2.qtcore python-pyside2.qtgui python-pyside2.qthelp
  python-pyside2.qtnetwork python-pyside2.qtprintsupport python-pyside2.qtqml python-pyside2.qtquick
  python-pyside2.qtquickwidgets python-pyside2.qtscript python-pyside2.qtsql python-pyside2.qtsvg
  python-pyside2.qttest python-pyside2.qtuitools python-pyside2.qtwebkit python-pyside2.qtwebkitwidgets
  python-pyside2.qtwidgets python-pyside2.qtx11extras python-pyside2.qtxml python-roman python-rosdep
  python-rosdistro python-rosdistro-modules python-rospkg python-rospkg-modules python-serial
  python-service-identity python-sip python-sip-dev python-snappy python-tk python-trollius python-twisted
  python-twisted-bin python-twisted-core python-txaio python-vtk6 python-wxgtk3.0 python-wxtools python-wxversion
  python-zope.interface qt4-linguist-tools qt4-qmake qt5-qmake qtbase5-dev qtbase5-dev-tools qtbase5-private-dev
  qtdeclarative5-dev qtdeclarative5-private-dev qtmultimedia5-dev qtscript5-dev qtscript5-private-dev
  qttools5-dev qttools5-dev-tools qttools5-private-dev ros-kinetic-actionlib ros-kinetic-actionlib-msgs
  ros-kinetic-actionlib-tutorials ros-kinetic-angles ros-kinetic-bond ros-kinetic-bond-core ros-kinetic-bondcpp
  ros-kinetic-bondpy ros-kinetic-camera-calibration ros-kinetic-camera-calibration-parsers
  ros-kinetic-camera-info-manager ros-kinetic-catkin ros-kinetic-class-loader ros-kinetic-cmake-modules
  ros-kinetic-collada-parser ros-kinetic-collada-urdf ros-kinetic-common-msgs ros-kinetic-common-tutorials
  ros-kinetic-compressed-depth-image-transport ros-kinetic-compressed-image-transport ros-kinetic-control-msgs
  ros-kinetic-cpp-common ros-kinetic-cv-bridge ros-kinetic-depth-image-proc ros-kinetic-desktop
  ros-kinetic-desktop-full ros-kinetic-diagnostic-aggregator ros-kinetic-diagnostic-analysis
  ros-kinetic-diagnostic-common-diagnostics ros-kinetic-diagnostic-msgs ros-kinetic-diagnostic-updater
  ros-kinetic-diagnostics ros-kinetic-dynamic-reconfigure ros-kinetic-eigen-conversions
  ros-kinetic-eigen-stl-containers ros-kinetic-executive-smach ros-kinetic-filters ros-kinetic-gazebo-dev
  ros-kinetic-gazebo-msgs ros-kinetic-gazebo-plugins ros-kinetic-gazebo-ros ros-kinetic-gazebo-ros-pkgs
  ros-kinetic-gencpp ros-kinetic-geneus ros-kinetic-genlisp ros-kinetic-genmsg ros-kinetic-gennodejs
  ros-kinetic-genpy ros-kinetic-geometric-shapes ros-kinetic-geometry ros-kinetic-geometry-msgs
  ros-kinetic-geometry-tutorials ros-kinetic-gl-dependency ros-kinetic-image-common ros-kinetic-image-geometry
  ros-kinetic-image-pipeline ros-kinetic-image-proc ros-kinetic-image-publisher ros-kinetic-image-rotate
  ros-kinetic-image-transport ros-kinetic-image-transport-plugins ros-kinetic-image-view
  ros-kinetic-interactive-marker-tutorials ros-kinetic-interactive-markers ros-kinetic-joint-state-publisher
  ros-kinetic-kdl-conversions ros-kinetic-kdl-parser ros-kinetic-laser-assembler ros-kinetic-laser-filters
  ros-kinetic-laser-geometry ros-kinetic-laser-pipeline ros-kinetic-librviz-tutorial ros-kinetic-map-msgs
  ros-kinetic-media-export ros-kinetic-message-filters ros-kinetic-message-generation ros-kinetic-message-runtime
  ros-kinetic-mk ros-kinetic-nav-msgs ros-kinetic-nodelet ros-kinetic-nodelet-core
  ros-kinetic-nodelet-topic-tools ros-kinetic-nodelet-tutorial-math ros-kinetic-octomap ros-kinetic-opencv3
  ros-kinetic-orocos-kdl ros-kinetic-pcl-conversions ros-kinetic-pcl-msgs ros-kinetic-pcl-ros
  ros-kinetic-perception ros-kinetic-perception-pcl ros-kinetic-pluginlib ros-kinetic-pluginlib-tutorials
  ros-kinetic-polled-camera ros-kinetic-python-orocos-kdl ros-kinetic-python-qt-binding ros-kinetic-qt-dotgraph
  ros-kinetic-qt-gui ros-kinetic-qt-gui-cpp ros-kinetic-qt-gui-py-common ros-kinetic-qwt-dependency
  ros-kinetic-random-numbers ros-kinetic-resource-retriever ros-kinetic-robot ros-kinetic-robot-model
  ros-kinetic-robot-state-publisher ros-kinetic-ros ros-kinetic-ros-base ros-kinetic-ros-comm
  ros-kinetic-ros-core ros-kinetic-ros-tutorials ros-kinetic-rosbag ros-kinetic-rosbag-migration-rule
  ros-kinetic-rosbag-storage ros-kinetic-rosbash ros-kinetic-rosboost-cfg ros-kinetic-rosbuild
  ros-kinetic-rosclean ros-kinetic-rosconsole ros-kinetic-rosconsole-bridge ros-kinetic-roscpp
  ros-kinetic-roscpp-core ros-kinetic-roscpp-serialization ros-kinetic-roscpp-traits ros-kinetic-roscpp-tutorials
  ros-kinetic-roscreate ros-kinetic-rosgraph ros-kinetic-rosgraph-msgs ros-kinetic-roslang ros-kinetic-roslaunch
  ros-kinetic-roslib ros-kinetic-roslint ros-kinetic-roslisp ros-kinetic-roslz4 ros-kinetic-rosmake
  ros-kinetic-rosmaster ros-kinetic-rosmsg ros-kinetic-rosnode ros-kinetic-rosout ros-kinetic-rospack
  ros-kinetic-rosparam ros-kinetic-rospy ros-kinetic-rospy-tutorials ros-kinetic-rosservice ros-kinetic-rostest
  ros-kinetic-rostime ros-kinetic-rostopic ros-kinetic-rosunit ros-kinetic-roswtf ros-kinetic-rqt-action
  ros-kinetic-rqt-bag ros-kinetic-rqt-bag-plugins ros-kinetic-rqt-common-plugins ros-kinetic-rqt-console
  ros-kinetic-rqt-dep ros-kinetic-rqt-graph ros-kinetic-rqt-gui ros-kinetic-rqt-gui-cpp ros-kinetic-rqt-gui-py
  ros-kinetic-rqt-image-view ros-kinetic-rqt-launch ros-kinetic-rqt-logger-level ros-kinetic-rqt-moveit
  ros-kinetic-rqt-msg ros-kinetic-rqt-nav-view ros-kinetic-rqt-plot ros-kinetic-rqt-pose-view
  ros-kinetic-rqt-publisher ros-kinetic-rqt-py-common ros-kinetic-rqt-py-console ros-kinetic-rqt-reconfigure
  ros-kinetic-rqt-robot-dashboard ros-kinetic-rqt-robot-monitor ros-kinetic-rqt-robot-plugins
  ros-kinetic-rqt-robot-steering ros-kinetic-rqt-runtime-monitor ros-kinetic-rqt-rviz
  ros-kinetic-rqt-service-caller ros-kinetic-rqt-shell ros-kinetic-rqt-srv ros-kinetic-rqt-tf-tree
  ros-kinetic-rqt-top ros-kinetic-rqt-topic ros-kinetic-rqt-web ros-kinetic-rviz
  ros-kinetic-rviz-plugin-tutorials ros-kinetic-rviz-python-tutorial ros-kinetic-self-test
  ros-kinetic-sensor-msgs ros-kinetic-shape-msgs ros-kinetic-simulators ros-kinetic-smach ros-kinetic-smach-msgs
  ros-kinetic-smach-ros ros-kinetic-smclib ros-kinetic-stage ros-kinetic-stage-ros ros-kinetic-std-msgs
  ros-kinetic-std-srvs ros-kinetic-stereo-image-proc ros-kinetic-stereo-msgs ros-kinetic-tf
  ros-kinetic-tf-conversions ros-kinetic-tf2 ros-kinetic-tf2-eigen ros-kinetic-tf2-geometry-msgs
  ros-kinetic-tf2-kdl ros-kinetic-tf2-msgs ros-kinetic-tf2-py ros-kinetic-tf2-ros
  ros-kinetic-theora-image-transport ros-kinetic-topic-tools ros-kinetic-trajectory-msgs
  ros-kinetic-turtle-actionlib ros-kinetic-turtle-tf ros-kinetic-turtle-tf2 ros-kinetic-turtlesim
  ros-kinetic-urdf ros-kinetic-urdf-parser-plugin ros-kinetic-urdf-tutorial ros-kinetic-vision-opencv
  ros-kinetic-visualization-marker-tutorials ros-kinetic-visualization-msgs ros-kinetic-visualization-tutorials
  ros-kinetic-viz ros-kinetic-webkit-dependency ros-kinetic-xacro ros-kinetic-xmlrpcpp sbcl sdformat-sdf
  shiboken2 sip-dev tango-icon-theme tcl-dev tcl-vtk6 tcl8.6-dev tk-dev tk8.6-blt2.5 tk8.6-dev ttf-bitstream-vera
  ttf-liberation unixodbc unixodbc-dev uuid-dev vtk6
下列软件包将被升级：
  cpp-5 g++-5 g++-5-multilib gcc-5 gcc-5-base gcc-5-base:i386 gcc-5-multilib lib32asan2 lib32atomic1
  lib32cilkrts5 lib32gcc-5-dev lib32gomp1 lib32itm1 lib32mpx0 lib32quadmath0 lib32stdc++-5-dev lib32stdc++6
  lib32ubsan0 libasan2 libatomic1 libcc1-0 libcilkrts5 libgcc-5-dev libgfortran3 libgomp1 libinput10 libitm1
  liblsan0 libmpx0 libqt5core5a libqt5dbus5 libqt5gui5 libqt5network5 libqt5opengl5 libqt5printsupport5
  libqt5sql5 libqt5test5 libqt5widgets5 libqt5xml5 libquadmath0 libstdc++-5-dev libstdc++6 libstdc++6:i386
  libtsan0 libubsan0 libuuid1 libwacom-bin libwacom-common libwacom2 libx32asan2 libx32atomic1 libx32cilkrts5
  libx32gcc-5-dev libx32gomp1 libx32itm1 libx32quadmath0 libx32stdc++-5-dev libx32stdc++6 libx32ubsan0
升级了 59 个软件包，新安装了 653 个软件包，要卸载 1 个软件包，有 394 个软件包未被升级。
需要下载 445 MB 的归档。
解压缩后会消耗 2,139 MB 的额外空间。
您希望继续执行吗？ [Y/n] Y

这种方式的安装，所需要安装的包非常多。

桌面安装：ROS，rqt, rviz，机器人通用库

sudo apt-get install ros-kinetic-desktop

ROS-Base (Bare Bones)：ROS 包，构建和通信库。没有 GUI 工具。

sudo apt-get install ros-kinetic-ros-base

独立的包安装：可以安装一个特定的 ROS 包（用实际的包名来替换下面的命令中的 “PACKAGE”）。

sudo apt-get install ros-kinetic-PACKAGE

如：

sudo apt-get install ros-kinetic-slam-gmapping

要找到可用的包，可以使用：

apt-cache search ros-kinetic

通常在做开发时，采用 桌面完整安装 比较方便一点，可以一股脑将所有有可能用到的软件包都安装进来。对于实际的机器，则通常采用 ROS-Base (Bare Bones) + 独立的包 的方式进行安装。

初始化 rosdep

在使用 ROS 之前，需要先初始化 rosdep。rosdep 使得你可以为你想要编译的源码，以及需要运行的 ROS 核心组件，简单地安装系统依赖。

sudo rosdep init
rosdep update

环境设置

如果在每次一个新的终端启动时，ROS 环境变量都能自动地添加进你的 bash 会话是非常方便，这可以通过如下命令来实现：

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

如果安装了多个 ROS 发行版，则 ~/.bashrc 必须只 source 当前正在使用的那一版的 setup.bash。

如果你只想要修改当前 shell 的环境，则输入如下的命令来替换上面的命令：

source /opt/ros/kinetic/setup.bash

构建包所需的依赖

到这一步，应该已经安装好了运行核心 ROS 包的所有东西。要创建和管理你自己的 ROS workspace，还有单独发布的许多的工具。比如，rosinstall 是一个常用的命令行工具，使你可以通过一个命令为 ROS 包简单地下载许多源码树。

要安装这个工具及其它的依赖以构建 ROS 包，则运行：

sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential

完成完整的 ROS 安装之后，可以对安装做一个简单的测试。可以通过 roscore 和 turtlesim 来做测试。

roscore 测试如下：

$ roscore
... logging to /home/hanpfei0306/.ros/log/3e61b674-03cf-11e8-ac54-9cb70ddc3658/roslaunch-hanpfei0306-31481.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://hanpfei0306:44979/
ros_comm version 1.12.12


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.12

NODES

auto-starting new master
process[master]: started with pid [31495]
ROS_MASTER_URI=http://hanpfei0306:11311/

setting /run_id to 3e61b674-03cf-11e8-ac54-9cb70ddc3658
process[rosout-1]: started with pid [31508]
started core service [/rosout]

turtlesim 测试如下：

注意 turtlesim 的运行依赖于 roscore 的运行，因此在测试 turtlesim 需要同时运行 roscore。

参考文档
ROS Distributions
Ubuntu install of ROS Kinetic

Done.