ubuntu14.04.1上ros-indigo的安装

本篇博客主要是解决ROS安装过程中的如下问题：

The following packages have unmet dependencies:
 ros-indigo-desktop-full : Depends: ros-indigo-desktop but it is not going to be installed
                       Depends: ros-indigo-perception but it is not going to be installed
                       Depends: ros-indigo-simulators but it is not going to be installed
E: Unable to correct problems, you have held broken packages.`

历经千难万险，将近一周的时间终于把ros-indigo在ubuntu14上安装好了，尝试了各种办法都不奏效，最终找到了正确的方法，总结一下。按照官网上的安装方法 http://wiki.ros.org/indigo/Installation/Ubuntu

一步一步来：

1.

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

2.

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

3.

sudo apt-get update

4.

sudo apt-get install libgl1-mesa-dev-lts-trusty (此项解决ros安装的依赖问题，然而在我的电脑上并没有什么卵用）

5.

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

就在此时出现严重问题，提示：

The following packages have unmet dependencies:
 ros-indigo-desktop-full : Depends: ros-indigo-desktop but it is not going to be installed
                       Depends: ros-indigo-perception but it is not going to be installed
                       Depends: ros-indigo-simulators but it is not going to be installed
E: Unable to correct problems, you have held broken packages.`

此时尝试过各种方法都无法安装，最后用如下的安装方式安装好了：

输入：   sudo aptitude install ros-indigo-desktop-full 然后会列出一大堆有关ros的东西，让你选择Accept this solution? [Y/n/q/?]，选择n

然后会出现

 The following actions will resolve these dependencies:
     Install the following packages:   

    ........................................................（各种依赖项）

Accept this solution? [Y/n/q/?]选择Y

然后等待安装就好了，接下来按照官网上的安装就好了。

sudo rosdep init
rosdep update
echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
source ~/.bashrc
source /opt/ros/indigo/setup.bash 
sudo apt-get install python-rosinstall

 二.建立工作空间

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/
$ catkin_make
$ source devel/setup.bash
$ echo $ROS_PACKAGE_PATH /home/youruser/catkin_ws/src:/opt/ros/indigo/share                                             

参考：

http://blog.csdn.net/u013832707/article/details/53534938

http://www.aiuxian.com/article/p-2598130.html