ROS-kinetic在ubuntu16.04安装

1.解决VMware运行Ubuntu无法跨系统复制粘贴的问题，需要运行一下三行命令。

$ sudo apt-get autoremove open-vm-tools
$ sudo apt-get install open-vm-tools
$ sudo apt-get install open-vm-tools-desktop

2.更新清华大学源，至于如何更新换源网上教程很多，这里给出参考网址[Ubuntu]修改 Ubuntu16.04 源为清华大学，下面为主要步骤。

$ sudo gedit /etc/apt/sources.list

下面为更换的内容，对应版本不同需要对应不同的源

# 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释

deb Tsinghua Open Source Mirror xenial main restricted universe multiverse

# deb-src Tsinghua Open Source Mirror xenial main restricted universe multiverse

deb Tsinghua Open Source Mirror xenial-updates main restricted universe multiverse

# deb-src Tsinghua Open Source Mirror xenial-updates main restricted universe multiverse

deb Tsinghua Open Source Mirror xenial-backports main restricted universe multiverse

# deb-src Tsinghua Open Source Mirror xenial-backports main restricted universe multiverse

deb Tsinghua Open Source Mirror xenial-security main restricted universe multiverse

# deb-src Tsinghua Open Source Mirror xenial-security main restricted universe multiverse

# 预发布软件源，不建议启用

# deb Tsinghua Open Source Mirror xenial-proposed main restricted universe multiverse

# deb-src Tsinghua Open Source Mirror xenial-proposed main restricted universe multiverse

$ sudo apt-get update 

3.安装ros https://blog.csdn.net/softimite_zifeng/article/details/78632211

添加软件源
$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
添加密钥
$ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
安装ros
$ sudo apt-get update
$ sudo apt-get install ros-kinetic-desktop-full
初始化rosdp
$ sudo rosdep init
$ rosdep update

ROS环境配置，使得之后每打开一个终端系统都会把ros环境给刷新上。

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

安装rosinstall等相关软件

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

到这一步ros就是安装完成了。

4. 测试ros

$ roscore

如果出现上图所示界面则表明安装成功。