移動機器人開發經常會使用到ros操作系統，這裏做個筆記，免得每次去網上各種踩坑，百度搜索”ROS安裝“，各種安裝教程如湧而至，但是在安裝的過程中絕大部分教程都會出現各種問題，讓人頭疼，經過不斷總結，這裏針對ubuntu1604版本給出一種ROS安裝方法：
第一步：更改爲”清華源“
sudo gedit /etc/apt/sources.list
備份原始sources.list文件，輸入以下內容：
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
# 預發佈軟件源，不建議啓用
# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
# 默認註釋了源碼倉庫，如有需要可自行取消註釋
deb https://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse
# deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
# deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial-updates 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-backports main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
# deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
# 預發佈軟件源，不建議啓用
# deb https://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
# deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
第二步：
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
第三步：
sudo sh -c '. /etc/lsb-release && echo "deb https://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" >> /etc/apt/sources.list.d/ros-latest.list'
第四步：
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
第五步：
sudo apt-get update && sudo apt upgrade
第六步：
sudo apt-get install ros-kinetic-desktop-full
坐等半小時…
第七步：
sudo rosdep init && rosdep update
出現以下錯誤：
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.
解決方案：
sudo gedit /etc/hosts
#在文件末尾添加
151.101.84.133 raw.githubusercontent.com
再運行sudo rosdep init && rosdep update
出現以下錯誤：
ERROR: default sources list file already exists:
/etc/ros/rosdep/sources.list.d/20-default.list
Please delete if you wish to re-initialize
解決方案：
sudo rm /etc/ros/rosdep/sources.list.d/20-default.list
再運行sudo rosdep init && rosdep update
出現以下內容，ok
Wrote /etc/ros/rosdep/sources.list.d/20-default.list
Recommended: please run
rosdep update
reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml
Skip end-of-life distro "ardent"
Skip end-of-life distro "bouncy"
Skip end-of-life distro "crystal"
Add distro "dashing"
Add distro "eloquent"
Add distro "foxy"
Skip end-of-life distro "groovy"
Skip end-of-life distro "hydro"
Skip end-of-life distro "indigo"
Skip end-of-life distro "jade"
Add distro "kinetic"
Skip end-of-life distro "lunar"
Add distro "melodic"
Add distro "noetic"
Add distro "rolling"
updated cache in /home/lzy/.ros/rosdep/sources.cache
第八步：
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
第九步：
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential
第十步：
roscore
... logging to /home/lzy/.ros/log/58edf030-bf83-11ea-987f-04ed33e91b1e/roslaunch-lzy-HP-ZBook-14u-G6-17155.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://lzy-HP-ZBook-14u-G6:44393/
ros_comm version 1.12.14
SUMMARY
========
PARAMETERS
* /rosdistro: kinetic
* /rosversion: 1.12.14
NODES
auto-starting new master
process[master]: started with pid [17166]
ROS_MASTER_URI=http://lzy-HP-ZBook-14u-G6:11311/
setting /run_id to 58edf030-bf83-11ea-987f-04ed33e91b1e
process[rosout-1]: started with pid [17179]
started core service [/rosout]
好了，已經走進了機器人的世界了。