ubuntu16.04下 ROS安装环境配置

参考
Ubuntu16.04安装ROS - 心纯净，行致远 - CSDN博客
https://blog.csdn.net/zhanshen112/article/details/82764990

1、配置源，先查看版本
如何查看电脑Ubuntu版本呢，可以直接开一个终端输入：lsb_release -a
显示 Codename: xenial //ubuntu的代号名称
那么此版本在配置源的时候需要注意源地址中的版本需要与此一致

2、对应的，速度比较快，考虑国内的ros源
ROS使用国内USTC源 - lovedarling的专栏 - CSDN博客
https://blog.csdn.net/lovedarling/article/details/78377059
ROS/Installation/UbuntuMirrors - ROS Wiki
http://cache.baiducontent.com/c?m=9f65cb4a8c8507ed4fece76310538c3f424380147c8a91027fa3ce08c6793b3c267b98e76664435a8d963a3c5cf3543bbab76a34707c7bf7db95c80bc9fecf68798760643740c00605d269b8bb4432b120872cecb869e5adf142d3f393c4de2444ba58120ef3e7fa5c1762b978f1642695a08e3813&p=8d769a478e934eac58e7c6345a44c4&newp=8a759a46d6c903fc57efe628165d89231610db2151d4d11f6b82c825d7331b001c3bbfb423261b00d1c07e6c02a5425fe8f53371370123a3dda5c91d9fb4c57479ca&user=baidu&fm=sc&query=ubuntu��װros����Դ&qid=a1e06d4100001530&p1=2

China
USTC
Administrator: USTC LUG <lug AT ustc DOT edu DOT cn>

URL: http://mirrors.ustc.edu.cn/ros/

Command:


sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
Tsinghua University
Administrator: Tsinghua University TUNA <support AT tuna DOT tsinghua DOT edu DOT cn>

URL: http://mirrors.tuna.tsinghua.edu.cn/ros/

Command:


sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
如果上面执行有问题，请使用下面方式
sudo sh -c 'echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

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

3、更新源
4、

更新并安装，这里为方便之后学习安装完全版。
sudo apt-get update
sudo apt-get install ros-kinetic-desktop-full
sudo rosdep init
rosdep update

注意这个ros版本ros-kinetic 是与ubuntu版本对应的，不能装错

5、其他的步骤按照参考链接即可