ubuntu16.04安装ROS kinetic

先贴上官方网址http://wiki.ros.org/kinetic/Installation/Ubuntu

1 Configure your Ubuntu repositories

Configure your Ubuntu repositories to allow “restricted,” “universe,” and “multiverse.” You can follow the Ubuntu guide for instructions on doing this.

2 Setup your 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'

3 Set up your keys

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

4 Installation

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

5 Initialize rosdep

sudo rosdep init
rosdep update

6 Environment setup

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

或者选择每打开一次终端就刷新一次的话：

source /opt/ros/kinetic/setup.bash

7 Dependencies for building packages

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

8 测试ROS

首先启动ROS

roscore

启动roscore后，重新打开一个终端窗口，输入，出现小海龟：

rosrun turtlesim turtlesim_node

操纵小海龟，重新打开新的一个终端,输入:

rosrun turtlesim  turtle_teleop_key

9 ROS Tutorials

Now, to test your installation, please proceed to the ROS Tutorials.