Ubuntu16.04 安裝 ROS(kinetic)

1. 配置Ubuntu倉庫

2. 安裝源

國內鏡像

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

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

3. 設置keys

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

4. 更新與安裝

sudo apt-get update

三選一

# 1. Desktop-Full Install (Recommended) :
sudo apt-get install ros-kinetic-desktop-full

# 2. Desktop Install:
sudo apt-get install ros-kinetic-desktop

# 3. ROS-Base: (Bare Bones) :
sudo apt-get install ros-kinetic-ros-base

5. 設置環境

二選一

# 1. bash (Recommended)
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

# 2. zsh
echo "source /opt/ros/kinetic/setup.zsh" >> ~/.zshrc
source ~/.zshrc

6. 安裝依賴

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

7. 初始化 rosdep

sudo apt install python-rosdep
sudo rosdep init
rosdep update

[注]：rosdep update可能會因爲網絡問題造成失敗，多試幾次便可

8. 卸載ROS

sudo apt-get remove ros-kinetic-*

** 僅作爲個人安裝記錄