1. 安装ORS-kinetic版本（略）
2. 源码编译
2.1 安装必要的库文件
温馨提示： 一个可以很方便查询各种库文件的网站，https://packages.debian.org/zh-cn/
eg, 查询libv4l-dev， https://packages.debian.org/zh-cn/sid/libv4l-dev
sudo apt-get install
python-catkin-tools : for catkin tools installation
libv4l-dev : for Collection of video4linux support libraries (development files)
libblas-dev : Basic Linear Algebra Subroutines 3, static library
liblapack-dev : Library of linear algebra routines 3 - static version
libeigen3-dev
sudo apt-get install python-setuptools python-rosinstall ipython libeigen3-dev libboost-all-dev doxygen libopencv-dev ros-indigo-vision-opencv ros-indigo-image-transport-plugins ros-indigo-cmake-modules python-software-properties software-properties-common libpoco-dev python-matplotlib python-scipy python-git python-pip ipython libtbb-dev libblas-dev liblapack-dev python-catkin-tools libv4l-dev
参考：