ROS:使用ubuntuKylin17.04安装ROS赤xi龟

使用ubuntuKylin17.04安装

参考了此篇文章：SLAM: Ubuntu16.04安装ROS-kinetic

重复官方链接的步骤也没有成功。

此后发现4.10的内核，不能使用Kinetic。

此后安装成功，完全按照以下步骤来即可：

页面链接：http://wiki.ros.org/lunar/Installation/Ubuntu

1. Installation

Configure your Ubuntu repositories

Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse." You canfollow the Ubuntu guide for instructions on doing this.

Setup your sources.list

Setup your computer to accept software from packages.ros.org.

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

Mirrors

Source Debs are also available

Set up your keys

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

If you experience issues connecting to the keyserver, you can try substitutinghkp://pgp.mit.edu:80 orhkp://keyserver.ubuntu.com:80 in the previous command.

Installation

First, make sure your Debian package index is up-to-date:

sudo apt-get update

There are many different libraries and tools in ROS. We provided four default configurations to get you started. You can also install ROS packages individually.

In case of problems with the next step, you can use following repositories instead of the ones mentioned aboveros-shadow-fixed

Desktop-Full Install: (Recommended) : ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception
```
sudo apt-get install ros-lunar-desktop-full
```
or click here

Desktop Install: ROS, rqt, rviz, and robot-generic libraries
```
sudo apt-get install ros-lunar-desktop
```
or click here

ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools.
```
sudo apt-get install ros-lunar-ros-base
```
or click here

Individual Package: You can also install a specific ROS package (replace underscores with dashes of the package name):
```
sudo apt-get install ros-lunar-PACKAGE
```
e.g.

sudo apt-get install ros-lunar-slam-gmapping

To find available packages, use:

apt-cache search ros-lunar

如果出现了没有安装成功，重新apt-get update ,重新输入一次安装命令，则可以顺利安装完成。

2. 测试

Test your Lunar Ros......................

Initialize rosdep

Before you can use ROS, you will need to initialize rosdep. rosdep enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS.

sudo rosdep init
rosdep update

测试成功...........................

Environment setup

It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched:

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

If you have more than one ROS distribution installed, ~/.bashrc must only source thesetup.bash for the version you are currently using.

If you just want to change the environment of your current shell, instead of the above you can type:

source /opt/ros/lunar/setup.bash

If you use zsh instead of bash you need to run the following commands to set up your shell:

echo "source /opt/ros/lunar/setup.zsh" >> ~/.zshrc
source ~/.zshrc

Getting rosinstall

rosinstall is a frequently used command-line tool in ROS that is distributed separately. It enables you to easily download many source trees for ROS packages with one command.

To install this tool on Ubuntu, run:

sudo apt-get install python-rosinstall

Build farm status

The packages that you installed were built by the ROS build farm. You can check the status of individual packages here.