Ubuntu16.04LTS安装ROS Kinetic

官方安装教程
http://wiki.ros.org/kinetic/Installation/Ubuntu
ROS Kinetic ONLY supports Wily (Ubuntu 15.10), Xenial (Ubuntu 16.04) and Jessie (Debian 8) for debian packages.
Configure your Ubuntu repositories to allow “restricted,” “universe,” and “multiverse.”

Setup your sources.list

Setup your computer to accept software from packages.ros.org.

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

sh -c 表示将字符串的命令输入到bash中

Set up your keys

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

Installation

First, make sure your Debian package index is up-to-date:

sudo apt-get update

Desktop-Full Install: (Recommended) : ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception

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

Initialize rosdep

Before you can use ROS, you will need to initialize rosdep. rosdep enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS.

sudo rosdep init
rosdep update

Environment setup

It’s convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched:

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

将source /opt/ros/kinetic/setup.bash放入~/.bashrc的好处是每次打开一新的命令终端来运行ros的命令时,不用每次都输入source /opt/ros/kinetic/setup.bash才能运行ros的命令.
坏处是,在运行其他程序时,Python的版本会搞乱,会跳到ros的Python中去.所以有时候会将~/.bashrc中的这个命令注销.
注意:If you have more than one ROS distribution installed, ~/.bashrc must only source the setup.bash for the version you are currently using.
If you just want to change the environment of your current shell, instead of the above you can type:

source /opt/ros/kinetic/setup.bash

Dependencies for building packages

Up to now you have installed what you need to run the core ROS packages. To create and manage your own ROS workspaces, there are various tools and requirements that are distributed separately. For example, rosinstall is a frequently used command-line tool that enables you to easily download many source trees for ROS packages with one command.
To install this tool and other dependencies for building ROS packages, run:

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

Build farm status

The packages that you installed were built by the ROS build farm. You can check the status of individual packages here.