ubuntu 16.0安装ros-kinetic

1.设置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'

best:

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

2.设置key（公钥已更新）

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

3.更新package

sudo apt-get update

Err:7 http://packages.ros.org/ros/ubuntu xenial/main i386 Packages               

Connection failed

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

4.安装ROS kinetic完整版

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

5.初始化rosdep

在使用ROS之前需要初始化rosdep

sudo rosdep init

rosdep update

ERROR: cannot download default sources list from: https://raw.githubusercont

1）ca-certificates问题，证书不对，重新安装证书

sudo apt-get install ca-certificates

2）系统时间同步问题，需要同步系统时间

参照链接https://blog.csdn.net/A18373279153/article/details/81003937进行系统时间同步

sudo apt-get install ntpdate
sudo ntpdate cn.pool.ntp.org
sudo hwclock --systohc

3) 还是ssl certs问题，继续尝试解决

sudo c_rehash /etc/ssl/certs 
sudo -E rosdep init

4）python-rosdep问题

sudo apt-get install python-rosdep

但以上方法全部无效，无奈之下直接在/etc目录下新建/ros/rosdep/sources.list.d/20-default.list文件（注意sudo rosdep init失败时，/etc下并没有/ros目录，需要依次逐级新建），然后将https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list内容粘贴进去，如下：

# 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

https://zhuanlan.zhihu.com/p/77483614

6.配置ROS环境

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

7.安装依赖项

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

8.测试ROS是否安装成功

(1)CTRL+ALT+T打开终端（Termial），输入以下命令，初始化ROS环境:

roscore

(2)再 打开一个新的终端（Termial），输入以下命令，弹出一个小乌龟窗口：

rosrun turtlesim turtlesim_node

(3)出现一个小乌龟的LOGO后，再 打开一个新的终端（Termial），输入以下命令:

rosrun turtlesim turtle_teleop_key

(4)打开新的Termial，输入以下命令，可以查看ROS节点信息

rosrun rqt_graph rqt_graph

参考：

https://blog.csdn.net/weixin_43159148/article/details/83375218