Ubuntu16.04 安装 ROS(kinetic)

安装 ROS

• • 1. 配置Ubuntu仓库
  • 2. 安装源
  • 3. 设置keys
  • 4. 更新与安装
  • 5. 设置环境
  • 6. 安装依赖
  • 7. 初始化 rosdep
  • 8. 卸载ROS

1. 配置Ubuntu仓库

2. 安装源

国内镜像

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

或者 sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

3. 设置keys

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

4. 更新与安装

sudo apt-get update

三选一

# 1. Desktop-Full Install (Recommended) :
sudo apt-get install ros-kinetic-desktop-full

# 2. Desktop Install:
sudo apt-get install ros-kinetic-desktop

# 3. ROS-Base: (Bare Bones) :
sudo apt-get install ros-kinetic-ros-base

5. 设置环境

二选一

# 1. bash (Recommended)
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

# 2. zsh
echo "source /opt/ros/kinetic/setup.zsh" >> ~/.zshrc
source ~/.zshrc

6. 安装依赖

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential

7. 初始化 rosdep

sudo apt install python-rosdep
sudo rosdep init
rosdep update

[注]：rosdep update可能会因为网络问题造成失败，多试几次便可

8. 卸载ROS

sudo apt-get remove ros-kinetic-*

** 仅作为个人安装记录