2020.4實測可用 Ubuntu16.04 ros安裝

0.改源

sudo gedit /etc/apt/sources.list

 我全刪了改成了中科大的，如果用其他的應該也可以。

deb http://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse

保存退出。

1.軟件與更新打鉤

2.sources.list修改

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

3.設置密鑰

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

 

如果你用的是老密鑰421C365BD9FF1F717815A3895523BAEEB01FA116會報錯

要刪除

sudo apt-key del 421C365BD9FF1F717815A3895523BAEEB01FA116

再重新設置密鑰

4.更新

sudo apt-get update
sudo apt-get upgrade

 可能由於速度慢報錯，多試幾次

5.安裝

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

6.初始化ROS

sudo rosdep init
rosdep update

 update同樣可能由於速度報錯，多試幾次

7.添加ROS 環境變量與依賴

echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential

8.測試

分別三個cmd窗口輸入

roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key

 再在最後一個cmd窗口敲擊上下左右鍵就可以控制烏龜了

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