ubuntu16安装ros kinetic详细过程（踩多个坑，终于安装完成）

（一）Ubuntu16.04换成清华大学源

（1）备份源文件

# 源文件sources.list 在/etc/apt/目录下

# 备份源文件

sudo cp /etc/apt/sources.list /etc/apt/sources.list.bak 

（2）替换源文件

如果一个源运行更新后一直出现忽略，那就不是好源
换一个能够不断出现获取的源，才可以
以下，第一个是清华源，第二个是阿里源
这里我们将两个源都加入文件中，全一点还是比较好的

sudo gedit /etc/apt/sources.list

# deb cdrom:[Ubuntu 16.04 LTS _Xenial Xerus_ - Release amd64 (20160420.1)]/ xenial main restricted
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial main restricted
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-updates main restricted
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial universe
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-updates universe
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-updates multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-security main restricted
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-security universe
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-security multiverse

# deb cdrom:[Ubuntu 16.04 LTS _Xenial Xerus_ - Release amd64 (20160420.1)]/ xenial main restricted
deb-src http://archive.ubuntu.com/ubuntu xenial main restricted #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial main restricted
deb-src http://mirrors.aliyun.com/ubuntu/ xenial main restricted multiverse universe #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted multiverse universe #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial universe
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates universe
deb http://mirrors.aliyun.com/ubuntu/ xenial multiverse
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates multiverse
deb http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/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://mirrors.aliyun.com/ubuntu/ xenial-security main restricted
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted multiverse universe #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial-security universe
deb http://mirrors.aliyun.com/ubuntu/ xenial-security multiverse

（3）更新源

sudo apt-get update 更新源 
sudo apt-get upgrade 更新软件（选择性更新，有可能出现版本不兼容情况）

（二）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'

（三）设置公钥（Key）

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

导入结果如下：

C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
gpg: 下载密钥‘AB17C654’，从 hkp 服务器 keyserver.ubuntu.com
gpg: 密钥 AB17C654：公钥“Open Robotics <info@osrfoundation.org>”已导入
gpg: 合计被处理的数量：1
gpg:               已导入：1  (RSA: 1)

（四）更新package

sudo apt-get update

（五）安装ROS kinetic完整版

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

（六）初始化rosdep

sudo rosdep init

rosdep update

（七）配置ROS环境

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

source ~/.bashrc

（八）安装依赖项

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

（九）测试是否成功

（1）初始化ROS环境：

roscore

（2）再打开一个新的终端（Termial），输入以下命令，弹出一个小乌龟窗口：

rosrun turtlesim turtlesim_node

（3）再打开一个新的终端（Termial），输入以下命令，使用键盘控制海龟运动：

rosrun turtlesim turtle_teleop_key

若键盘能正常控制海龟，代表安装成功。

（4）打开新的Termial，输入以下命令，可以查看ROS节点信息：

rosrun rqt_graph rqt_graph

如果你能顺利进行到这一步，说明ROS安装成功了。

（十）安装遇见的的错误

第（六）步sudo rosdep init 错误

（1）打开控制文件

sudo gedit /etc/hosts

（2）通过IPAddress.com首页,输入raw.githubusercontent.com查询到最新的真实IP地址：

151.101.84.133 raw.githubusercontent.com 

将上述地址写入文件最后一行，保存并退出。

（3）如果提示已经存在，则将存在的文件删除并重复以上操作：

sudo rm /etc/ros/rosdep/sources.list.d/20-default.list

（4）最后结果是可观的，初始化成功代码如下：

wmj@wmj-Inspiron-5580:~$ sudo rosdep init
Wrote /etc/ros/rosdep/sources.list.d/20-default.list
Recommended: please run

	rosdep update

wmj@wmj-Inspiron-5580:~$ rosdep update
reading in sources list data from /etc/ros/rosdep/sources.list.d
ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml]:
	<urlopen error ('_ssl.c:574: The handshake operation timed out',)> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml)
ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml]:
	<urlopen error ('_ssl.c:574: The handshake operation timed out',)> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml)
ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml]:
	<urlopen error ('_ssl.c:574: The handshake operation timed out',)> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml)
ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml]:
	<urlopen error timed out> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml)
ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml]:
	Failed to download target platform data for gbpdistro:
	<urlopen error timed out>
Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml
ERROR: error loading sources list:
	<urlopen error <urlopen error timed out> (https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml)>
wmj@wmj-Inspiron-5580:~$ 

到这里，经过好多错误的安装提示，我们终于将ros kinetic安装成功了,接下来好好体验ROS吧！