Ubuntu 16.04 LTS下安装配置ROS

参考博客：

Ubuntu更换下载源：https://blog.csdn.net/zl10086111/article/details/82917462

                                     https://blog.csdn.net/maizousidemao/article/details/79127695

ROS安装：https://www.cnblogs.com/liu-fa/p/5779206.html

                     https://blog.csdn.net/u013468614/article/details/102917569

目录

1准备工作

1.1检查Ubuntu版本与对应ROS版本

1.2检查Ubuntu下载安装配置

 1.3更换国内镜像源

2.开始安装

2.1添加源并确认下载库

2.2下载并安装ROS

3.ROS安装的收尾工作

3.1检查和更新

3.2初始化环境变量

3.3安装常用依赖项

4.测试ROS

---

1准备工作

1.1检查Ubuntu版本与对应ROS版本

对应Ubutnu版本
ROS Kinetic Kame	Ubuntu 16.04 (Xenial) / Ubuntu 15.10 (Wily)
ROS Jade Turtle	Ubuntu 15.04 (Wily) / Ubuntu LTS 14.04 (Trusty)
ROS Indigo Igloo	Ubuntu 14.04 (Trusty)
ROS Hydro Medusa	Ubuntu 12.04 LTS (Precise)
ROS Groovy Galapagos	Ubuntu 12.04 (Precise)

1.2检查Ubuntu下载安装配置

打开Ubuntu设置界面，中间三个需要打勾。

 1.3更换国内镜像源

首先，在终端键入:

sudo gedit /etc/apt/sources.list

在这里我们更换为清华镜像源https://mirrors.tuna.tsinghua.edu.cn/help/ubuntu/，用下列清华镜像源提供的地址逐条替换原文档里地址。（建议将原文档地址用#注释而不是直接删除）

另外，清华源默认注释掉了源码，也就是以deb-src为开头的每行代码，可以提高apt update速度，有需要的人自行取消注释。最后两行的预发布源可以不用。

#默认注释掉了源代码提高apt update速度
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial main restricted universe multiverse
#deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
#deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
#deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
#deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-security main restricted universe multiverse

##预发布的源，不建议使用
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
#deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse

在这里给大家多提供几个高校和公司的源,据原博说有教育网和非教育的区别。

教育网：

浙江大学源：

deb http://mirrors.zjustu.org/ubuntu/ xenial main restricted universe multiverse 
  deb http://mirrors.zjustu.org/ubuntu/ xenial-backports restricted universe multiverse 
  deb http://mirrors.zjustu.org/ubuntu/ xenial-proposed main restricted universe multiverse 
  deb http://mirrors.zjustu.org/ubuntu/ xenial-security main restricted universe multiverse 
  deb http://mirrors.zjustu.org/ubuntu/ xenial-updates main restricted universe multiverse 
  deb-src http://mirrors.zjustu.org/ubuntu/ xenial main restricted universe multiverse 
  deb-src http://mirrors.zjustu.org/ubuntu/ xenial-backports main restricted universe multiverse 
  deb-src http://mirrors.zjustu.org/ubuntu/ xenial-proposed main restricted universe multiverse 
  deb-src http://mirrors.zjustu.org/ubuntu/ xenial-security main restricted universe multiverse 
 

中国科学技术大学源：

deb https://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
deb http://download.virtualbox.org/virtualbox/debian xenial contrib
 

非教育网：

阿里源:

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

网易源：

deb http://mirrors.163.com/ubuntu/ xenial main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ xenial-security main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ xenial-updates main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ xenial-proposed main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ xenial-backports main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ xenial main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ xenial-security main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ xenial-updates main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ xenial-proposed main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ xenial-backports main restricted universe multiverse

更换完源保存文件，然后在终端键入：

sudo apt-get update

或者键入：

sudo apt update

等待更新完成后即可。

2.开始安装

2.1添加源并确认下载库

在终端中键入以下添加下载源：

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

在终端中键入以下添加密钥：

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 0xB01FA116

在终端中键入以下更新下载列表：

sudo apt-get update

2.2下载并安装ROS

在终端中键入以下以安装完整版ROS-Kinetic，注意这里是和我Ubuntu系统对应的ROS版本：

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

经过一段时间的等待（其实还挺长？），完整豪华版ROS就安装完毕了。

3.ROS安装的收尾工作

3.1检查和更新

在终端下键入以下检查安装的包：

 apt-cache search ros-kinetic

键入以下进行依赖项安装初始化：

sudo rosdep init

在sudo rosdep init后出现如下内容后方可继续：

Wrote /etc/ros/rosdep/sources.list.d/20-default.list
Recommended: please run

	rosdep update

如果出错，参考如下：

可能出现的错误1：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.

解决办法：

创建文件夹：

sudo mkdir -p /etc/ros/rosdep/sources.list.d

定位到该目录：

 cd /etc/ros/rosdep/sources.list.d

建立文件：

sudo gedit 20-default.list

将文档输入如下内容：

# 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

并将所有raw.githubusercontent.com改为raw.github.com,得到如下最终文档：

# os-specific listings first
yaml https://raw.github.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx

# generic
yaml https://raw.github.com/ros/rosdistro/master/rosdep/base.yaml
yaml https://raw.github.com/ros/rosdistro/master/rosdep/python.yaml
yaml https://raw.github.com/ros/rosdistro/master/rosdep/ruby.yaml
gbpdistro https://raw.github.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

保存并运行。

可能出现的错误2：
ERROR: default sources list file already exists:/etc/ros/rosdep/sources.list.d/20-default.list
Please delete if you wish to re-initialize

解决办法：

键入删除命令后重新进行rosdep init

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

sudo rosdep init

 

 

在排除sudo rosdep init错误之后，键入以下进行依赖项安装更新：

rosdep update

 如出现时延错误等，我在网上查到的办法是换成4G网……然后还真解决了。

3.2初始化环境变量

终端键入添加初始化环境变量：

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

终端键入使生效：

source ~/.bashrc

3.3安装常用依赖项

终端键入以下指令：

sudo apt-get install python-rosinstall

4.测试ROS

终端键入：

roscore

如果出现如下画面则安装成功：