ubuntu16.04 环境下 安装 ROS

1、编辑源列表文件，添加ROS软件源

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

#或者

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

2、设置密钥

wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -

#或者 对应上一步第二条

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

3、更新下载源

sudo apt-get update

4、安装ROS

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

5、初始化 rosdep

sudo rosdep init

rosdep update

6、环境变量设置

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

source  ~/.bashrc

7、完成安装

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

参考链接：http://wiki.ros.org/Installation/Ubuntu?distro=melodic