新手ubuntu16.04安装ROS

Linux系统选择的是Ubuntu16.04，因此对应的ROS选择的版本是ROS Kinetic

1、配置软件库如下图

这里选择的是中科大的源，后续也使用该源

2、设置软件源

打开/etc/apt/source.list，将下面的内容加入

deb http://debian.ustc.edu.cn/ubuntu/ trusty main multiverse restricted universe

deb http://debian.ustc.edu.cn/ubuntu/ trusty-backports main multiverse restricted universe

deb http://debian.ustc.edu.cn/ubuntu/ trusty-proposed main multiverse restricted universe

deb http://debian.ustc.edu.cn/ubuntu/ trusty-security main multiverse restricted universe

deb http://debian.ustc.edu.cn/ubuntu/ trusty-updates main multiverse restricted universe

deb-src http://debian.ustc.edu.cn/ubuntu/ trusty main multiverse restricted universe

deb-src http://debian.ustc.edu.cn/ubuntu/ trusty-backports main multiverse restricted universe

deb-src http://debian.ustc.edu.cn/ubuntu/ trusty-proposed main multiverse restricted universe

deb-src http://debian.ustc.edu.cn/ubuntu/ trusty-security main multiverse restricted universe

deb-src http://debian.ustc.edu.cn/ubuntu/ trusty-updates main multiverse restricted universe

保存后执行

sudo apt-get update

sudo apt-get upgrade
3、添加source.list

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

4、添加公钥

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

5、安装

sudo apt-get update

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

6、初始化

sudo rosdep init

此处如果出现网址不可达执行下面的命令

sudo c_rehash /etc/ssl/certs

sudo -E rosdep init

之后再执行

rosdep update

7、配置ROS环境

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

source ~/.bashrc

8、安装依赖项

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

到此，ROS安装完毕！