Ubuntu 16.04 + ROS Kinetic 机器人操作系统学习镜像分享与使用安装说明
Ubuntu 16.04 + ROS Kinetic 镜像分享与使用安装说明
内容概要：1 网盘文件介绍 2 镜像制作 3 系统使用与安装
---- 祝ROS爱好者和开发者新年快乐：-） ----
镜像iso约1.7GB，更多功能在网盘中查找即可。
1 网盘文件介绍
网址：http://pan.baidu.com/s/1kVe8u6F
打开后，目前有5个文件夹，分别为pic、iso、code、build、book。
pic图片目录，iso镜像目录，code学习ROS一些代码压缩包，build制作镜像文件，book书籍分享。
在iso文件夹可以看到镜像文件ExbotBook_xxx.iso，由于之前发布镜像太大，目前这个镜像就是纯净版，只有Ubuntu 16.04，ROS Kinetic，Gazebo 7.5，MoveIt!以及学习的代码示例，稍后会在试用时做详细介绍。之后，会依据需求更新并增加镜像，定制版镜像制作也会在后续博客中介绍。下载完成后，在build文件夹下载Universal-USB-Installer用于制作启动盘。
2 镜像制作
特别说明，试用时需要在BIOS设置Secure Boot为Disabled，安装完成后再开启Enable。
本镜像制作支持UEFI+Legacy启动，所以使用UEFI/Legacy Boot皆可。
制作过程如下：
需要勾选Showing *ISOs，点击Create：
等待制作完成，约4-8分钟，休息一下:-)
好，镜像制作完成，重启电脑即可使用。下面内容均在U盘系统中完成。
3 系统试用与安装
选择试用exbotbook即可试用此系统。桌面如下：
系统用户名：rosfun 密码：exbot
已经编译好可以使用的功能包如下：
当然，也可以在终端再编译一下看看，当然这是U盘灯会快闪：-)
rosfun@rosfun:~$ cd dev/catkin_ws/ rosfun@rosfun:~/dev/catkin_ws$ catkin_make Base path: /home/rosfun/dev/catkin_ws Source space: /home/rosfun/dev/catkin_ws/src Build space: /home/rosfun/dev/catkin_ws/build Devel space: /home/rosfun/dev/catkin_ws/devel Install space: /home/rosfun/dev/catkin_ws/install #### #### Running command: "make cmake_check_build_system" in "/home/rosfun/dev/catkin_ws/build" #### #### #### Running command: "make -j4 -l4" in "/home/rosfun/dev/catkin_ws/build" #### [ 1%] Built target laser [ 1%] Built target base_controller [ 1%] Built target odometry [ 2%] Built target tf_listener [ 2%] Built target std_msgs_generate_messages_cpp [ 3%] Built target tf_broadcast [ 3%] Built target std_msgs_generate_messages_nodejs [ 3%] Built target std_msgs_generate_messages_lisp [ 3%] Built target std_msgs_generate_messages_py [ 3%] Built target std_msgs_generate_messages_eus [ 3%] Built target actionlib_msgs_generate_messages_eus [ 3%] Built target _kamtoa_smarthome_controller_generate_messages_check_deps_smarthome_action [ 3%] Built target _kamtoa_smarthome_controller_generate_messages_check_deps_smarthome_response [ 3%] Built target _my_sph_actions_generate_messages_check_deps_sphero_action_msgActionGoal [ 3%] Built target _my_sph_actions_generate_messages_check_deps_sphero_action_msgFeedback [ 3%] Built target nav_msgs_generate_messages_eus [ 3%] Built target _my_sph_actions_generate_messages_check_deps_sphero_action_msgActionResult [ 3%] Built target _my_sph_actions_generate_messages_check_deps_sphero_action_msgResult [ 3%] Built target _my_sph_actions_generate_messages_check_deps_sphero_action_msgGoal [ 3%] Built target _my_sph_actions_generate_messages_check_deps_sphero_action_msgActionFeedback [ 3%] Built target actionlib_msgs_generate_messages_nodejs [ 3%] Built target nav_msgs_generate_messages_nodejs [ 3%] Built target actionlib_msgs_generate_messages_py [ 3%] Built target nav_msgs_generate_messages_py [ 3%] Built target actionlib_msgs_generate_messages_cpp [ 3%] Built target _my_sph_actions_generate_messages_check_deps_sphero_action_msgAction [ 3%] Built target nav_msgs_generate_messages_cpp [ 3%] Built target actionlib_msgs_generate_messages_lisp [ 3%] Built target nav_msgs_generate_messages_lisp [ 4%] Generating dynamic reconfigure files from cfg/chapter2.cfg: /home/rosfun/dev/catkin_ws/devel/include/chapter2_tutorials/chapter2Config.h /home/rosfun/dev/catkin_ws/devel/lib/python2.7/dist-packages/chapter2_tutorials/cfg/chapter2Config.py [ 4%] Built target _sphero_node_generate_messages_check_deps_SpheroCollision [ 4%] Built target _chapter2_tutorials_generate_messages_check_deps_chapter2_srv1 [ 4%] Built target _chapter2_tutorials_generate_messages_check_deps_chapter2_msg1 [ 4%] Built target _driver_base_generate_messages_check_deps_ConfigValue [ 4%] Built target _driver_base_generate_messages_check_deps_ConfigString [ 4%] Built target _driver_base_generate_messages_check_deps_SensorLevels [ 6%] Built target chapter5_tutorials_gencfg [ 6%] Built target kamtoa_joystick [ 7%] Built target velocity_profiler Generating reconfiguration files for chapter2_ in chapter2_tutorials Wrote header file in /home/rosfun/dev/catkin_ws/devel/include/chapter2_tutorials/chapter2_Config.h [ 9%] Built target camera_timer [ 9%] Built target camera [ 10%] Built target camera_polling [ 10%] Built target chapter2_tutorials_gencfg [ 11%] Built target sendGoals [ 11%] Built target _chapter3_tutorials_generate_messages_check_deps_SetSpeed [ 12%] Built target example7 [ 13%] Built target example3 [ 13%] Built target example1 [ 14%] Built target example2 [ 14%] Built target chapter3_tutorials_generate_messages_py [ 15%] Built target example10 [ 15%] Built target chapter3_tutorials_generate_messages_lisp [ 15%] Built target example8 [ 16%] Built target chapter3_tutorials_generate_messages_nodejs [ 17%] Built target chapter3_tutorials_generate_messages_eus [ 18%] Built target chapter3_tutorials_gencfg [ 19%] Built target example9 [ 19%] Built target c4_example7 [ 20%] Built target c4_example6 [ 21%] Built target c4_example8 [ 22%] Built target c4_example5_2 [ 22%] Built target c4_example3 [ 23%] Built target c4_example2 [ 24%] Built target c4_example4 [ 25%] Built target c4_example1 [ 26%] Built target pcl_downsampling [ 27%] Built target pcl_filter [ 28%] Built target pcl_partitioning [ 30%] Built target pcl_create [ 30%] Built target pcl_model_estimation [ 30%] Built target pcl_read [ 31%] Built target pcl_visualize [ 32%] Built target pcl_planar_segmentation [ 32%] Built target pcl_matching [ 33%] Built target pcl_write [ 34%] Built target gazebo_contact_sensor_plugin [ 34%] Built target rosbook_arm_hardware_gazebo [ 34%] Built target octomap_msgs_generate_messages_lisp [ 34%] Built target tf2_msgs_generate_messages_nodejs [ 34%] Built target tf_generate_messages_cpp [ 36%] Built target moveit_simple_grasps [ 36%] Built target moveit_simple_grasps_filter [ 36%] Built target actionlib_generate_messages_eus [ 36%] Built target tf_generate_messages_py [ 36%] Built target roscpp_generate_messages_lisp [ 36%] Built target tf_generate_messages_eus [ 36%] Built target geometry_msgs_generate_messages_lisp [ 36%] Built target roscpp_generate_messages_nodejs [ 36%] Built target tf_generate_messages_lisp [ 36%] Built target rosgraph_msgs_generate_messages_lisp [ 36%] Built target rosgraph_msgs_generate_messages_py [ 36%] Built target roscpp_generate_messages_eus [ 36%] Built target roscpp_generate_messages_py [ 36%] Built target geometry_msgs_generate_messages_cpp [ 36%] Built target sensor_msgs_generate_messages_nodejs [ 36%] Built target tf_generate_messages_nodejs [ 36%] Built target rosgraph_msgs_generate_messages_cpp [ 36%] Built target tf2_msgs_generate_messages_cpp [ 36%] Built target roscpp_generate_messages_cpp [ 36%] Built target geometry_msgs_generate_messages_eus [ 36%] Built target rosgraph_msgs_generate_messages_nodejs [ 36%] Built target rosgraph_msgs_generate_messages_eus [ 36%] Built target geometry_msgs_generate_messages_nodejs [ 36%] Built target geometry_msgs_generate_messages_py [ 36%] Built target sensor_msgs_generate_messages_cpp [ 36%] Built target sensor_msgs_generate_messages_lisp [ 36%] Built target tf2_msgs_generate_messages_lisp [ 36%] Built target actionlib_generate_messages_cpp [ 36%] Built target sensor_msgs_generate_messages_py [ 36%] Built target actionlib_generate_messages_nodejs [ 36%] Built target sensor_msgs_generate_messages_eus [ 36%] Built target actionlib_generate_messages_py [ 36%] Built target tf2_msgs_generate_messages_py [ 36%] Built target tf2_msgs_generate_messages_eus [ 36%] Built target actionlib_generate_messages_lisp [ 36%] Built target visualization_msgs_generate_messages_cpp [ 36%] Built target visualization_msgs_generate_messages_py [ 36%] Built target visualization_msgs_generate_messages_eus [ 36%] Built target visualization_msgs_generate_messages_lisp [ 36%] Built target visualization_msgs_generate_messages_nodejs [ 36%] Built target trajectory_msgs_generate_messages_nodejs [ 36%] Built target trajectory_msgs_generate_messages_eus [ 36%] Built target trajectory_msgs_generate_messages_cpp [ 36%] Built target trajectory_msgs_generate_messages_lisp [ 36%] Built target trajectory_msgs_generate_messages_py [ 36%] Built target moveit_ros_manipulation_gencfg [ 36%] Built target moveit_msgs_generate_messages_lisp [ 36%] Built target octomap_msgs_generate_messages_py [ 36%] Built target moveit_msgs_generate_messages_py [ 36%] Built target object_recognition_msgs_generate_messages_nodejs [ 36%] Built target shape_msgs_generate_messages_lisp [ 36%] Built target object_recognition_msgs_generate_messages_lisp [ 36%] Built target octomap_msgs_generate_messages_nodejs [ 36%] Built target shape_msgs_generate_messages_eus [ 36%] Built target object_recognition_msgs_generate_messages_py [ 36%] Built target shape_msgs_generate_messages_cpp [ 36%] Built target graph_msgs_generate_messages_py [ 36%] Built target moveit_ros_planning_gencfg [ 36%] Built target octomap_msgs_generate_messages_eus [ 36%] Built target object_recognition_msgs_generate_messages_cpp [ 36%] Built target moveit_msgs_generate_messages_cpp [ 36%] Built target graph_msgs_generate_messages_cpp [ 36%] Built target object_recognition_msgs_generate_messages_eus [ 36%] Built target shape_msgs_generate_messages_py [ 36%] Built target moveit_msgs_generate_messages_eus [ 36%] Built target moveit_msgs_generate_messages_nodejs [ 36%] Built target shape_msgs_generate_messages_nodejs [ 36%] Built target graph_msgs_generate_messages_lisp [ 36%] Built target graph_msgs_generate_messages_nodejs [ 36%] Built target octomap_msgs_generate_messages_cpp [ 36%] Built target graph_msgs_generate_messages_eus [ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsActionGoal [ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsGoal [ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsActionFeedback [ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsFeedback [ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsActionResult [ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsResult [ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsAction [ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GraspGeneratorOptions [ 36%] Built target move_group_remove_object [ 37%] Built target move_group_plan_group_state [ 38%] Built target move_group_plan_single_target [ 39%] Built target move_group_plan_random_target [ 39%] Built target robot1_description_xacro_generated_to_devel_space_ [ 39%] Built target kamtoa_description_xacro_generated_to_devel_space_ [ 39%] Built target sphero_gazebo_xacro_generated_to_devel_space_ [ 40%] Built target move_group_add_object [ 40%] Built target state_publisher_tutorials [ 40%] Built target kamtoa_smarthome_controller_generate_messages_cpp [ 41%] Built target kamtoa_smarthome_controller_generate_messages_nodejs [ 42%] Built target kamtoa_smarthome_controller_generate_messages_py [ 42%] Built target gazebo_sphero_controller [ 43%] Built target kamtoa_smarthome_controller_generate_messages_lisp [ 44%] Built target kamtoa_smarthome_controller_generate_messages_eus [ 47%] Built target my_sph_actions_generate_messages_eus [ 51%] Built target my_sph_actions_generate_messages_nodejs [ 54%] Built target my_sph_actions_generate_messages_py [ 57%] Built target my_sph_actions_generate_messages_cpp [ 59%] Built target my_sph_actions_generate_messages_lisp [ 59%] Built target sphero_node_generate_messages_eus [ 60%] Built target sphero_node_generate_messages_py [ 61%] Built target sphero_node_generate_messages_cpp [ 62%] Built target sphero_node_generate_messages_lisp Scanning dependencies of target chap2_example4 [ 62%] Built target sphero_node_generate_messages_nodejs [ 62%] Built target chapter2_tutorials_generate_messages_cpp [ 63%] Built target chapter2_tutorials_generate_messages_eus [ 64%] Built target chapter2_tutorials_generate_messages_py [ 64%] Building CXX object Learning_ROS_for_Robotics_Programming/chapter2_tutorials/CMakeFiles/chap2_example4.dir/src/example4.cpp.o [ 65%] Built target chapter2_tutorials_generate_messages_lisp [ 66%] Built target chapter2_tutorials_generate_messages_nodejs [ 67%] Built target chap2_example1_b [ 69%] Built target chap2_example1_a [ 69%] Built target chap2_example3_b [ 70%] Built target driver_base_generate_messages_eus [ 73%] Built target driver_base_generate_messages_nodejs [ 73%] Built target driver_base_generate_messages_py [ 74%] Built target driver_base_generate_messages_lisp [ 76%] Built target driver_base_generate_messages_cpp [ 76%] Built target chapter3_tutorials_generate_messages_cpp [ 77%] Built target camera_stereo [ 77%] Built target example6 [ 78%] Built target moveit_simple_grasps_test [ 81%] Built target moveit_simple_grasps_generate_messages_nodejs [ 84%] Built target moveit_simple_grasps_generate_messages_lisp [ 84%] Built target moveit_simple_grasps_server [ 85%] Built target moveit_simple_grasps_filter_test [ 89%] Built target moveit_simple_grasps_generate_messages_py [ 92%] Built target moveit_simple_grasps_generate_messages_cpp [ 95%] Built target moveit_simple_grasps_generate_messages_eus [ 95%] Built target my_sph_actions_generate_messages [ 95%] Built target kamtoa_smarthome_controller_generate_messages [ 95%] Built target sphero_node_generate_messages [ 96%] Built target chap2_example3_a [ 97%] Built target chap2_example2_b [ 98%] Built target gazebo_light_controller [ 98%] Built target driver_base_generate_messages [ 98%] Built target chap2_example2_a [ 98%] Built target chapter2_tutorials_generate_messages [ 98%] Built target chapter3_tutorials_generate_messages [ 98%] Built target moveit_simple_grasps_generate_messages [ 98%] Built target example4 [100%] Built target example5 [100%] Linking CXX executable /home/rosfun/dev/catkin_ws/devel/lib/chapter2_tutorials/chap2_example4 [100%] Built target chap2_example4 rosfun@rosfun:~/dev/catkin_ws$
举2个例子说明一下：
rviz:ROS数据可视化工具
$ roscore
$ rviz
$ roslaunch chapter3_tutorials example9.launch
可以观察到红色方块在rviz中缓慢移动：
gazebo:（model已经完全下载好，ROS仿真利器）
$ roslaunch sphero_gazebo main.launch
$ roslaunch sphero_gazebo keyboard_teleop.launch
使用键盘控制小钢球在环境中移动，体验一下三维物理引擎仿真的效果（Gazebo 7.5）
当然书中的例子，以及github上代码有兴趣都可以尝试。
如果看到这里，想要安装后使用，请阅读如下文字：
如果对Linux不熟悉的话，冲动是魔鬼，先在U盘系统多多练习学习就好，否则万一安装失败windows没了怎么办，即使安装成功，无法进入windows怎么办，提示风险哦 ;-)
安装说明：
这时，如果你想安装，点击桌面右上角图标，是木有结果的：-)确定安装请往下看：
打开终端，输入$ sudo ubiquity 输入密码：exbot
熟悉的安装界面出现了：
请注意下面警告，谨慎操作：
安装步骤和Ubuntu一模一样，安装完成后，如果windows系统不见了，UEFI/Legacy情况不同，可查找解决。
Legacy比较简单，进入系统后在终端输入 sudo update-grub 或 sudo update-grub2 即可。
-End-
镜像制作稍后补充，可选用Pinguy Builder（已预装），Remastersys，respin。在sourceforge或github上可以下载。
