ubuntu16.04(ros_kinetic)安装turtlebot 及踩坑总结(全部亲测)和简单的操作

1.安装相关依赖和更新

sudo apt-get install python-rosdep python-wstool  
sudo rosdep init
rosdep update

注意:再执行 sudo rosdep init 命令时,我的电脑出现了以下的错误:

ERROR: default sources list file already exists:
    /etc/ros/rosdep/sources.list.d/20-default.list
Please delete if you wish to re-initialize

解决方法:

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

2.建立三个工作空间

整个安装过程一个需要编译三个文件，为了管理，建立了一个Turtlebot的文件夹再将接下来的三个空间放在该文件录下的.在Turtlebot目录下分别再建rocon，kobuki，turtlebo.文件夹。具体步骤如下所示：

(1)下载和编译源码,建立rocon目录，下载和编译，rocon都有对应的kinetic版本

mkdir rocon
cd rocon
wstool init -j5 src https://raw.github.com/robotics-in-concert/rocon/release/kinetic/rocon.rosinstall 
source /opt/ros/kinetic/setup.bash 
rosdep install --from-paths src -i -y 
catkin_make

注意:在执行wstool init -j5 src https://raw.github.com/robotics-in-concert/rocon/release/kinetic/rocon.rosinstall命令时,报了以下的错误:

[  1%] Generating C++ code from concert_workflow_engine_msgs/Workflow.msg
Traceback (most recent call last):
  File "/opt/ros/kinetic/share/gencpp/cmake/../../../lib/gencpp/gen_cpp.py", line 41, in <modu