1. Configure Ubuntu repositories, "restricted," "universe," and "multiverse." Select Server from China. 2. Set the Ubuntu the sources.list (installation source)
2. Set the Ubuntu the sources.list (selected from a)
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. Set the Key
sudo apt-key adv –keyserver hkp://ha.pool.sks-keyservers.net:80 –recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
4. Update
sudo apt-get update
5. Install ROS kinetic full version
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. initialization rosdep, before using the ROS must be initialized rosdep
sudo rosdep init
rosdep update
7. Configure the Environment
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
8. The building package mounted reliance
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
- ROS successful test installation
- Open Termial, enter the following command to initialize ROS environment:
roscore - Open a new Termial, enter the following command to bring up a small window turtle:
rosrun turtlesim turtlesim_node - Opens new termial, enter the following command can be controlled by moving the direction key little turtle in the termial:
rosrun turtlesim turtle_teleop_key - Open a new Termial, enter the following command to bring up a new window to view ROS node information:
rosrun rqt_graph rqt_graph
Error Handling:
Error 1:
The first step 5 error message:
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.
Option 1:
(1) Delete ros-latest.list
sudo rm -rf /etc/apt/sources.list.d/ros-latest.list
(2) modify the source:
sudo gedit /etc/apt/sources.list
Then read as follows:
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
Then you can install from scratch.
Scenario 2:
sudo apt-get install aptitude
sudo aptitude install ros-kinetic-desktop-full
点击Y
Error two:
CAN not download default Sources List
the following error in the run sudo rosdep init is likely to occur:
ERROR: can not download default sources list from:
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list. D / 20 is default.list-
Website On May BE Down.
There may not be installed due to the certificate store, you can try the following command:
sudo RM /etc/ros/rosdep/sources.list.d/20-default.list
sudo APT-GET-install CA Certificates
Reference from:
https://blog.csdn.net/stefan1992/article/details/79358960
https://www.cnblogs.com/liu-fa/p/5779206.html
http://www.liuxiao.org/2017 / 12 / ros- mounted on -ros-kinetic system -ubuntu-16-04- /
https://blog.csdn.net/xiangxianghehe/article/details/78483799
https://blog.csdn.net/qq_41628231/ article / details / 81046548