一、更换国内源
二、添加ROS源
三、添加密钥
四、安装ROS
五、初始化ROS
先复制一份源文件
再更换源地址
sudo cp /etc/apt/sources.list /etc/apt/sources.list.bak
sudo gedit /etc/apt/sources.list
国内常用的地址源如下：
清华源
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
中科大源
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
阿里源：
deb http://mirrors.aliyun.com/ubuntu/ xenial main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ xenial-proposed main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ xenial main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-proposed main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse
执行
sudo apt update
使用中科大ros源
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'
wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -
更新软件包
sudo apt-get update
sudo apt-get install ros-kinetic-desktop-full
sudo rosdep init
常见报错问题
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.
方案一
修改hosts文件，加入以下两个网址的IP地址实现访问。
sudo gedit /etc/hosts
199.232.28.133 raw.githubusercontent.com
151.101.228.133 raw.github.com
如过上述方案解决不了该问题，那么请继续往下看
方案二
步骤一：首先打开一个终端，执行以下指令创建root并切换至root用户
sudo su //或者su root 然后输入密码切换至root用户
sudo mkdir -p /etc/ros/rosdep/sources.list.d
cd /etc/ros/rosdep/sources.list.d
sudo gedit 20-default.list
步骤二：将以下内容复制进20-default.list文件中
# os-specific listings first
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx
# generic
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
gbpdistro https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml fuerte
# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead
亲测添加下面内容也可以
# os-specific listings first
yaml https://raw.github.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx
# generic
yaml https://raw.github.com/ros/rosdistro/master/rosdep/base.yaml
yaml https://raw.github.com/ros/rosdistro/master/rosdep/python.yaml
yaml https://raw.github.com/ros/rosdistro/master/rosdep/ruby.yaml
gbpdistro https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml fuerte
# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro
index.yaml instead
步骤三：执行以下指令
exit //退出root用户
rosdep update
这里如果没问题那么恭喜，你的网络很好，添加环境变量即可
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
但是一般这都会报错，请往下看
首先，先获取根文件的访问权限。
sudo nautilus
博主我这里没起反应，于是直接修改文件内容
sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py
找到函数名为download_rosdep_data下方
添加：
url="https://ghproxy.com/"+url
应用ghproxy的代理服务
同样方法添加下面的代理
sudo gedit /usr/lib/python2.7/dist-packages/rosdistro/__init__.py
即将DEFAULT_INDEX_URL 进行如下替换：
DEFAULT_INDEX_URL = 'https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml'
一均可通过在地址前添加https://ghproxy.com/ 前缀应用代理服务
sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/gbpdistro_support.py 36行
sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py 72行
sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/rep3.py 39行
sudo gedit /usr/lib/python2.7/dist-packages/rosdistro/manifest_provider/github.py 68行 119行
再次尝试执行rosdep update，问题解决