技术交流QQ群:1027579432，欢迎你的加入！

1.更换源

  • 备份原始数据
    cd /etc/apt/
    sudo cp sources.list sources.list.bak
    sudo gedit sources.list
  • 科大源: 
    deb https://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse
    deb https://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
    deb https://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
    deb https://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
    deb https://mirrors.ustc.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
    deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse
    deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
    deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
    deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
    deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse

2.ros安装

  • 添加源
    sudo sh -c '. /etc/lsb-release && echo "deb https://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
  • 设置秘钥
    sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 0xB01FA116
  • 确保系统软件处于最新版
    sudo apt-get update
  • ROS完整版
    sudo apt-get install ros-kinetic-desktop-full
  • 安装完成后，可以用下面的命令来查看可使用的包
    apt-cache search ros-kinetic
  • 初始化ROS
    sudo rosdep init
    rosdep update
  • 初始化环境变量
    echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
    source ~/.bashrc
  • 安装重要插件
    sudo apt-get install python-rosinstall
  • 测试是否安装成功
    roscore 如果显示 started core service [/rosout] 表示安装成功

备注

  • ros中很多的第三方插件的安装格式是:
    sudo apt-get install ros-kinetic-...
    例如：sudo apt-get install ros-kinetic-turtlebot*
  • 参考文章链接
  • 参考文章有问题，建议严格按照此篇文章
  • ubuntu16.04下安装ssh远程服务
    sudo apt-get install openssh-server
    sudo su
    vim /etc/ssh/sshd_config
    修改PermitRootLogin xxx(记不清楚原始的是啥了) 为 PermitRootLogin yes
    开启ssh服务 /etc/init.d/ssh start