Ros|Ubuntu16.04安装Ros Kinetic步骤

参考文档：Ubuntu install of ROS Kinetic

Installation

ROS Kinetic ONLY supports Wily (Ubuntu 15.10), Xenial (Ubuntu 16.04) and Jessie (Debian 8) for debian packages.

1.Configure your Ubuntu repositories

Configure your Ubuntu repositories to allow “restricted,” “universe,” and “multiverse.” You can follow the Ubuntu guide for instructions on doing this.
由于之前ubuntu换源已经配好了（详见→Linux|基于windows系统的电脑上使用/安装多版本Ubuntu系统方法汇总），故此步省略。

deb http://mirrors.aliyun.com/ubuntu/ xenial main restricted universe multiverse  
deb http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted universe multiverse  
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted universe multiverse  
deb http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse  
##测试版源  
deb http://mirrors.aliyun.com/ubuntu/ xenial-proposed main restricted universe multiverse  

2.Setup your sources.list

• 采用中科大源

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

3.Set up your keys

curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | sudo apt-key add -

4.Installation

• 更新源

sudo apt-get update

• 安装桌面完整版

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

• 漫长等待…

5.Environment setup

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

6.Dependencies for building packages

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

Initialize rosdep

sudo rosdep init

报错…

ERROR: cannot download default sources list from:
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
Website may be down.

解决方法

sudo vi /etc/hosts

在文件末尾添加

151.101.84.133 raw.githubusercontent.com

保存并退出，并运行

rosdep update

7.Installing catkin_tools

sudo apt-get install python-catkin-tools

至此安装结束，可输入roscore验证。