PS：首先附上参考文章的链接-树莓派ubuntu mate或其他ubuntu16.04安装ROS(Kinetic)。
前面的安装ROS-Kinetic步骤完全一致，步骤1~7摘抄在下面。
1.添加源
中科大源：
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
2.增加key
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
3.更新
sudo apt-get update
sudo apt-get upgrade
4.安装
sudo apt-get install ros-kinetic-desktop-full
5.rosdep
sudo rosdep init
rosdep update
6.设置全局环境
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
7.安装依赖
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
到此，ROS-Kinetic安装完毕，下面安装Turtlebot2依赖项以及测试：
8.安装Turtlebot2依赖项
sudo apt-get install ros-kinetic-turtlebot ros-kinetic-turtlebot-actions ros-kinetic-turtlebot-apps ros-kinetic-turtlebot-bringup ros-kinetic-turtlebot-calibration ros-kinetic-turtlebot-capabilities ros-kinetic-turtlebot-create ros-kinetic-turtlebot-dashboard ros-kinetic-turtlebot-description ros-kinetic-turtlebot-follower ros-kinetic-turtlebot-gazebo ros-kinetic-turtlebot-interactions ros-kinetic-turtlebot-interactive-markers ros-kinetic-turtlebot-loadout-kha1 ros-kinetic-turtlebot-msgs ros-kinetic-turtlebot-navigation ros-kinetic-turtlebot-rapps ros-kinetic-turtlebot-rviz-launchers ros-kinetic-turtlebot-simulator ros-kinetic-turtlebot-stage ros-kinetic-turtlebot-stdr
9.turtlebot2测试
首先，将电脑和turtlebot用连接线连接，打开turtlebot的开关。
打开一个终端输入：
roslaunch turtlebot_bringup minimal.launch
再打开一个终端，输入：
roslaunch turtlebot_teleop keyboard_teleop.launch
然后在此终端便可以控制turtlebot的运动，控制方向的按键有
| u：向左前行驶 | i：向前行驶 | u：向右前行驶 |
|---|---|---|
| j：原地向左转向 | l：原地向右转向 | |
| m：向左后行驶 | ，：向后行驶 | 。：向右后行驶 |