安装ubuntu16.04

第一步，添加源

设置密钥

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

更新

sudo apt-get update

安装ros-kinetic

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

初始化

sudo rosdep init

rosdep update

配置环境

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

安装依赖

sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential

测试

roscore
#另起终端，启动乌龟GUI
rosrun turtlesim turtlesim_node
#键盘控制，(上下左右)
rosrun turtlesim turtle_teleop_key
gazebo
rviz