Ubuntu16中安装ROS

1、更换Ubuntu国内源

cd /etc/apt/
备份sources.list

打开文件sources.list
vim sources.list

将其中内容全部替换为以下内容（本次使用阿里源，之前使用清华源apt update报错过）：

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-proposed main restricted universe multiverse

deb http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse

deb-src http://mirrors.aliyun.com/ubuntu/ xenial main restricted universe multiverse

deb-src http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted universe multiverse

deb-src http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted universe multiverse

deb-src http://mirrors.aliyun.com/ubuntu/ xenial-proposed main restricted universe multiverse

deb-src http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse

保存退出

apt update
下载更新成功！（上次使用清华源到这一步更新失败）

2、替换ROS国内源
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

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

再次更新apt
apt update

3、安装ROS
sudo apt-get install ros-kinetic-desktop-full
安装成功！

设置环境变量

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

source ~/.bashrc
 

4、初始化rosdep
rosdep init
失败！
报错信息如下：

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.

 

cd /etc

sudo mkdir ros

cd ros

sudo mkdir rosdep

cd rosdep

sudo mkdir source.list.d

cd source.list.d

sudo touch 20-default.list

vim 20-default.list
粘贴如下内容：

#os-specific listings first

yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx

#generic

yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml

yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml

yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml

gbpdistro https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml fuerte

#newer distributions (Groovy, Hydro, …) must not be listed anymore, they are being 

#fetched from the rosdistro index.yaml instead

保存退出

rosdep update
更新成功！

O了！
以前在Ubuntu18下面安装ROS很顺利啊，怎么在Ubuntu16下面安装就这么费劲呢，沃尼玛！