ROS安装

参考：ROS官网http://wiki.ros.org/kinetic/Installation/Ubuntu

Setup your sources.list

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

Set up your keys

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

或者换成：

sudo apt-key adv --keyserver 'hkp://pgp.mit.edu:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

或者换成：

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

Installation

sudo apt-get update

sudo apt-get install ros-kinetic-desktop-full

Initialize rosdep

sudo rosdep init

rosdep update

Environment setup

echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc

source ~/.bashrc

测试

终端1：

roscore

终端2：

rosrun turtlesim turtlesim_node