1.配置Ubuntu仓库，”restricted,” “universe,” and “multiverse.” 选择来自中国的服务器。 2. 设置Ubuntu的sources.list(安装源)
2.设置Ubuntu的sources.list（选一）
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
3.设置Key
sudo apt-key adv –keyserver hkp://ha.pool.sks-keyservers.net:80 –recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
4.更新
sudo apt-get update
5.安装ROS kinetic完整版
sudo apt-get install ros-kinetic-desktop-full
安装完可以查看可用的package：
apt-cache search ros-kinetic
6.初始化rosdep，在使用ROS之前必须要初始化rosdep
sudo rosdep init
rosdep update
7.配置环境
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
8.安装building package的依赖
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
- 测试ROS安装成功
- 打开Termial，输入以下命令，初始化ROS环境：
roscore - 打开新的Termial，输入以下命令，弹出一个小乌龟窗口：
rosrun turtlesim turtlesim_node - 打开新的Termial，输入以下命令，可以在Termial中通过方向键控制小乌龟的移动：
rosrun turtlesim turtle_teleop_key - 打开新的Termial，输入以下命令，弹出新的窗口查看ROS节点信息：
rosrun rqt_graph rqt_graph
错误处理：
错误一：
第5步报错信息：
The following packages have unmet dependencies:
ros-* -desktop-full : Depends: ros-* -mobile but it is not going to be installed
Depends: ros-* -perception but it is not going to be installed
Depends: ros-* -simulators but it is not going to be installed
E: Unable to correct problems, you have held broken packages.
方案1：
（1）删除ros-latest.list
sudo rm -rf /etc/apt/sources.list.d/ros-latest.list
（2）修改源：
sudo gedit /etc/apt/sources.list
然后改为以下内容：
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
接下来从头安装即可。
方案2：
sudo apt-get install aptitude
sudo aptitude install ros-kinetic-desktop-full
点击Y
错误二：
cannot download default sources list
在运行 sudo rosdep init 是可能出现如下错误：
ERROR: cannot download default sources list from:
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
Website may be down.
有可能是没有安装证书库所致，可以尝试如下命令：
sudo rm /etc/ros/rosdep/sources.list.d/20-default.list
sudo apt-get install ca-certificates
参考自：
https://blog.csdn.net/stefan1992/article/details/79358960
https://www.cnblogs.com/liu-fa/p/5779206.html
http://www.liuxiao.org/2017/12/ros-在-ubuntu-16-04-系统上安装-ros-kinetic/
https://blog.csdn.net/xiangxianghehe/article/details/78483799
https://blog.csdn.net/qq_41628231/article/details/81046548