解决Ubuntu14.04.4安装ROS indigo的奇葩问题

环境&&Version：Ubuntu14.04.4

安装：ROS indigo

1、首先是ROS安装，参考wiki上的安装教程:http://wiki.ros.org/indigo/Installation/Ubuntu

   注意安装过程不用安装这些软件包：这些针对其它版本。。

sudo apt-get install xserver-xorg-dev-lts-trusty mesa-common-dev-lts-trusty libxatracker-dev-lts-trusty libopenvg1-mesa-dev-lts-trusty libgles2-mesa-dev-lts-trusty libgles1- mesa-dev-lts-trusty libgl1-mesa-dev-lts-trusty libgbm-dev-lts-trusty libegl1-mesa-dev-lts-trusty

也不要安装这些软件包：

sudo apt-get install libgl1-mesa-dev-lts-trusty

2、遇到的问题是，安装过程中，用以下命令完全安装ros indigo时

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

出现下述E: Sub-process /usr/bin/dpkg returned an error code (1)

Errors were encountered while processing: 
samba-common
....
E: Sub-process /usr/bin/dpkg returned an error code (1)

 解决这个问题的方法是运行下面三条命令，更新一下，再重新安装即可。

sudo mv /var/lib/dpkg/info/ /var/lib/dpkg/info_backup/

sudo mkdir /var/lib/dpkg/info/

sudo apt-get update

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

 3、安装rosinstall的时候遇到同样的问题。Errors were encountered while processing:.........

Errors were encountered while processing:
 mercurial
 python-vcstools
 python-wstool
 python-rosinstall
E: Sub-process /usr/bin/dpkg returned an error code (1)

同样：上述操作 

sudo mv /var/lib/dpkg/info/ /var/lib/dpkg/info_backup/

sudo mkdir /var/lib/dpkg/info/

sudo apt-get update

sudo apt-get install python-rosinstall

 到这，完美解决。

最后，运行roscore 看一下效果。ok