ubuntu1604-ros-kinetic搭建

1 ubuntu设置下载源，很重要，选择正确的下载源，安装会很顺利。

2 设置安装源 （增加ubuntu版的ros数据仓库，即下载源）（通用指令适合任何版本的ros）

ROS Kinetic只支持Wily(15.10)和Xenial(16.04)对应内核分别为4.2和4.4，使用下面命令：

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

3 设置keys 实现安全从数据仓库下载未被修改版，故设置key增加可信度

ros@ubuntu:~/Desktop$ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 0xB01FA116
Executing: /tmp/tmp.hiSjhfjoZI/gpg.1.sh --keyserver
hkp://ha.pool.sks-keyservers.net:80
--recv-key
0xB01FA116
gpg: requesting key B01FA116 from hkp server ha.pool.sks-keyservers.net
gpg: key B01FA116: "ROS Builder " not changed
gpg: Total number processed: 1
gpg:              unchanged: 1

4 安装ros （2d、3d、rviz等）

ros@ubuntu:~/Desktop$ sudo apt-get update

ros@ubuntu:~/Desktop$ sudo apt-get install ros-kinetic-desktop-full

安装功能包：

ros@ubuntu:~/Desktop$ sudo apt-get install ros-kinetic-PACKAGE

例如：

ros@ubuntu:~/Desktop$ sudo apt-get install ros-kinetic-slam-gmapping

查找在kinetic中可以使用的功能包：

ros@ubuntu:~/Desktop$ apt-cache search ros-kinetic

5 初始化

ros@ubuntu:~/Desktop$ sudo rosdep init
Wrote /etc/ros/rosdep/sources.list.d/20-default.list
Recommended: please run
rosdep update
ros@ubuntu:~/Desktop$ 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.yaml
Add distro "groovy"
Add distro "hydro"
Add distro "indigo"
Add distro "jade"
Add distro "kinetic"
updated cache in /home/ros/.ros/rosdep/sources.cache

6 环境配置

ros@ubuntu:~/Desktop$ echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc 
ros@ubuntu:~/Desktop$ source ~/.bashrc 

注意当安装多个ROS发行版，使用kinetic需要用到下面命令：

ros@ubuntu:~/Desktop$ source  /opt/ros/kinetic/setup.bash 

7 安装rosinstall

ros@ubuntu:~/Desktop$ sudo apt-get install python-rosinstall

8 测试roscore

ros@ubuntu:~/Desktop$ roscore 
... logging to /home/ros/.ros/log/318897ba-9918-11e6-9f21-000c29dd5e2f/roslaunch-ubuntu-32287.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://ubuntu:33677/
ros_comm version 1.12.5




SUMMARY
========


PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.5


NODES


auto-starting new master
process[master]: started with pid [32300]
ROS_MASTER_URI=http://ubuntu:11311/


setting /run_id to 318897ba-9918-11e6-9f21-000c29dd5e2f
process[rosout-1]: started with pid [32313]
started core service [/rosout]
^C[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
ros@ubuntu:~/Desktop$