ubuntu重装，系统初始化整理
Table of Contents
3.Ubuntu 16.04 + ROS Kinetic的安装
1.输入法
自带的fcitx
https://blog.csdn.net/qq_37760750/article/details/80394427#commentBox
搜狗输入法
https://www.cnblogs.com/darklights/p/7722861.html
改切换输入法快捷键
2.更换软件源
备份Ubuntu源列表
sudo cp /etc/apt/sources.list /etc/apt/sources.list.backup
打开更新源列表
sudo gedit /etc/apt/sources.list
推荐阿里云
# deb cdrom:[Ubuntu 16.04 LTS _Xenial Xerus_ - Release amd64 (20160420.1)]/ xenial main restricted
deb-src http://archive.ubuntu.com/ubuntu xenial main restricted #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial main restricted
deb-src http://mirrors.aliyun.com/ubuntu/ xenial main restricted multiverse universe #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted multiverse universe #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial universe
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates universe
deb http://mirrors.aliyun.com/ubuntu/ xenial multiverse
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates multiverse
deb http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse #Added by software-properties
deb http://archive.canonical.com/ubuntu xenial partner
deb-src http://archive.canonical.com/ubuntu xenial partner
deb http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted multiverse universe #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial-security universe
deb http://mirrors.aliyun.com/ubuntu/ xenial-security multiverse
更新
sudo apt-get update3.Ubuntu 16.04 + ROS Kinetic的安装
软件中心配置：
打开右下角的software and update，按照下图进行配置（确保你的"restricted"， "universe，" 和 "multiverse."前是打上勾的（左边的4个勾勾））
配置完成后就可以关闭该窗口了。
添加源：
打开一个终端(Ctrl + Alt + T), 输入如下指令：
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'设置秘钥:
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 0xB01FA116安装 ROS
更新系统软件处于最新版：
sudo apt-get update如果遇到问题：
W: GPG error: http://packages.ros.org/ros/ubuntu xenial InRelease: The following signatures couldn't be verified because the public key is not available: NO_PUBKEY F42ED6FBAB17C654
W: The repository 'http://packages.ros.org/ros/ubuntu xenial InRelease' is not signed.
N: Data from such a repository can't be authenticated and is therefore potentially dangerous to use.
N: See apt-secure(8) manpage for repository creation and user configuration details.
解决方法一：把6AF0E1940624A220换成你出错的码如我的：F42ED6FBAB17C654
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 6AF0E1940624A220解决方法二：
gpg --keyserver keyserver.ubuntu.com --recv-key E084DAB9
gpg -a --export E084DAB9 | sudo apt-key add -
解决方法三：
重新更换软件源
记得重新
sudo apt-get update然后开始安装 ROS，安装全功能版指令如下：
sudo apt-get install ros-kinetic-desktop-full初始化ROS
首先需要先初始化 rosdep，具体如下：
sudo rosdep init
rosdep update然后初始化环境变量（重要）:
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc安装依赖：
sudo apt-get install python-rosinstall测试ROS
roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key有问题参考：
https://blog.csdn.net/luvalluo/article/details/78745677
https://blog.csdn.net/yueyueniaolzp/article/details/85070093#commentBox
4.安装QT
https://blog.csdn.net/lzp_k2/article/details/82662112
5.安装配置VSCode
5.1下载安装VSCode
Visual studio code是微软发布的一个运行于 Mac OS X、Windows和 Linux 之上的，针对于编写现代 Web 和云应用的跨平台源代码编辑器。
第一种方式是从VScode官网下载.deb文件，然后双击该文件会打开软件中心进行安装。
安装完成后，打开终端（Ctrl + Alt + T）：
cd /usr/share/code/
code两条指令输入终端后即可打开VScode，主界面如下：
5.2配置VSCode
参考：https://blog.csdn.net/weixin_43374723/article/details/84064644
6.桌面壁纸