ubuntu16.04 ROS安装

官方教程
ros镜像源

• 配置 Ubuntu 软件仓库
  
• 添加 sources.list

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'

• 添加公钥

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

• 安装ros
  确保你的Debian软件包索引是最新的,

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

• 初始化rosdep

sudo rosdep init
rosdep update

问题：由于raw.githubusercontent.com被墙，程序无法下载相应的文件

ERROR: cannot download default sources list from:
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
Website may be down.

解决方法：

sudo nano /etc/hosts
#添加以下内容
192.30.253.118 gist.github.com
185.199.110.153 github.io151.101.113.194 github.global.ssl.fastly.net
52.216.227.168 github-cloud.s3.amazonaws.com
52.74.223.119 github.com199.232.28.133 avatars1.githubusercontent.com
199.232.28.133 avatars2.githubusercontent.com
199.232.28.133 avatars0.githubusercontent.com
199.232.28.133 avatars3.githubusercontent.com
199.232.28.133 raw.githubusercontent.com
199.232.28.133 user-images.githubusercontent.com
199.232.28.133 avatars.githubusercontent.com
199.232.28.133 github.map.fastly.net
199.232.28.133 avatars7.githubusercontent.com# Amazon AWS Start
54.239.31.69	aws.amazon.com
54.239.30.25	console.aws.amazon.com
54.239.96.90	ap-northeast-1.console.aws.amazon.com
54.240.226.81	ap-southeast-1.console.aws.amazon.com
54.240.193.125	ap-southeast-2.console.aws.amazon.com
54.239.54.102	eu-central-1.console.aws.amazon.com
177.72.244.194	sa-east-1.console.aws.amazon.com
176.32.114.59	eu-west-1.console.aws.amazon.com
54.239.31.128	us-west-1.console.aws.amazon.com
54.240.254.230	us-west-2.console.aws.amazon.com
54.239.38.102	s3-console-us-standard.console.aws.amazon.com
54.231.49.3	s3.amazonaws.com
52.219.0.4	s3-ap-northeast-1.amazonaws.com
54.231.242.170	s3-ap-southeast-1.amazonaws.com
54.231.251.21	s3-ap-southeast-2.amazonaws.com
54.231.193.37	s3-eu-central-1.amazonaws.com
52.218.16.140	s3-eu-west-1.amazonaws.com
52.92.72.2	s3-sa-east-1.amazonaws.com
54.231.236.6	s3-us-west-1.amazonaws.com
54.231.168.160	s3-us-west-2.amazonaws.com
52.216.80.48	github-cloud.s3.amazonaws.com
54.231.40.3	github-com.s3.amazonaws.com
52.216.20.171	github-production-release-asset-2e65be.s3.amazonaws.com
52.216.228.168	github-production-user-asset-6210df.s3.amazonaws.com

• 环境配置
  使得每次打开一个新的终端时ROS环境变量都能够自动配置好（即添加到bash会话中）

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

• 构建依赖

sudo apt-get install python-rosinstall

rosinstall 是一个经常使用的命令行工具，它使你能够轻松地从一个命令下载许多 ROS 包的源树。

• 测试ROS
• 首先启动ROS,输入代码运行roscore:

roscore

• 启动roscore后,重新打开一个终端窗口,输入:

rosrun turtlesim turtlesim_node

• 重新打开新的一个终端,输入:

rosrun turtlesim turtle_teleop_key

如果这时可以看到一只海龟并能通过键盘控制其运动方向便说明ros安装成功。