官网教程：http://wiki.ros.org/NvidiaJetson/TX1
http://wiki.ros.org/indigo/Installation/Ubuntu
教程并不是很详细，踩了不少坑，下面是安装成功的过程。
Update your sources.list
首先把源更新，更新为中科大的源：http://mirrors.ustc.edu.cn/help/ubuntu-ports.html
sudo cp /etc/apt/sources.list /etc/apt/sources.list.backup
sudo gedit /etc/apt/sources.list
将下面的部分覆盖掉sources.list里的内容
deb https://mirrors.ustc.edu.cn/ubuntu-ports/ xenial main restricted universe multiverse deb-src https://mirrors.ustc.edu.cn/ubuntu-ports/ xenial main main restricted universe multiverse deb https://mirrors.ustc.edu.cn/ubuntu-ports/ xenial-updates main restricted universe multiverse deb-src https://mirrors.ustc.edu.cn/ubuntu-ports/ xenial-updates main restricted universe multiverse deb https://mirrors.ustc.edu.cn/ubuntu-ports/ xenial-backports main restricted universe multiverse deb-src https://mirrors.ustc.edu.cn/ubuntu-ports/ xenial-backports main restricted universe multiverse deb https://mirrors.ustc.edu.cn/ubuntu-ports/ xenial-security main restricted universe multiverse deb-src https://mirrors.ustc.edu.cn/ubuntu-ports/ xenial-security main restricted universe multiverse # 预发布软件源，不建议启用 # deb https://mirrors.ustc.edu.cn/ubuntu-ports/ xenial-proposed main restricted universe multiverse # deb-src https://mirrors.ustc.edu.cn/ubuntu-ports/ xenial-proposed main restricted universe multiverse
sudo apt-get update
Setup your 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'
Set up your keys
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt-get update
sudo apt-get install ros-kinetic-desktop-full
sudo rosdep init rosdep update
Environment setup
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
Getting rosinstall
sudo apt-get install python-rosinstall
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检查是否成功
roscore
出现下面结果则成功：
... logging to /home/nvidia/.ros/log/82164b1c-90b2-11e8-b974-0adc23ff26c9/roslaunch-tegra-ubuntu-3273.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://tegra-ubuntu:42284/ ros_comm version 1.12.13 SUMMARY ======== PARAMETERS * /rosdistro: kinetic * /rosversion: 1.12.13 NODES auto-starting new master process[master]: started with pid [3283] ROS_MASTER_URI=http://tegra-ubuntu:11311/ setting /run_id to 82164b1c-90b2-11e8-b974-0adc23ff26c9 process[rosout-1]: started with pid [3296] started core service [/rosout]
问题清单：
1.
Unable to locate package ros-indigo-desktop
Ubuntu16.04版本不支持ros indigo,应安装ros kinetic版本
$ sudo apt-get install ros-kinetic-desktop-full
2.
The following packages have unmet dependencies: ros-kinetic-desktop-full :
Depends: ros-kinetic-desktop but it is not going to be installed
Depends: ros-kinetic-perception but it is not going to be installed
Depends: ros-kinetic-simulators but it is not going to be installed
E: Unable to correct problems, you have held broken packages.请到官网更新arm源，中国科学技术大学源:http://mirrors.ustc.edu.cn/help/ubuntu-ports.html
源中使用 HTTPS 可以有效避免国内运营商的缓存劫持，但需要事先安装 apt-transport-https
sudo apt-get install apt-transport-https