Robot Operating System (ROS) 是一個得到廣泛應(yīng)用機(jī)器人系統(tǒng)的軟件框架，它包含了一系列的軟件庫和工具用于構(gòu)建機(jī)器人應(yīng)用。從驅(qū)動到最先進(jìn)的算法，以及強(qiáng)大的開發(fā)者工具，ROS 包含了開發(fā)一個機(jī)器人項(xiàng)目所需要的所有東西。且它們都是開源的。

ROS 雖然名為機(jī)器人操作系統(tǒng)，但它與我們一般概念中的操作系統(tǒng)，如 Windows，Linux，iOS 和 Android 這些。Windows，Linux，iOS 和 Android 這些操作系統(tǒng)為我們管理計算機(jī)的物理硬件資源，如 CPU、內(nèi)存、磁盤、網(wǎng)絡(luò)及外設(shè)，提供如進(jìn)程、線程和文件這樣的抽象，并提供如讀文件、寫文件、創(chuàng)建進(jìn)程、創(chuàng)建線程及啟動線程這樣的操作。ROS 所工作的層級并沒有這么低，它基于一般概念中的操作系統(tǒng)來運(yùn)行，官方推薦基于 Ubuntu Linux 運(yùn)行，并在 Ubuntu Linux 操作系統(tǒng)提供的抽象和操作的基礎(chǔ)之上，提供了更高層的抽象，如節(jié)點(diǎn)、服務(wù)、消息、主題等，以及更高層的操作，如主題的發(fā)布、主題的訂閱、服務(wù)的查詢與連接等操作。同時 ROS 還提供開發(fā)機(jī)器人項(xiàng)目所需的工具和功能庫。

ROS 發(fā)行版是一個版本標(biāo)識的 ROS 包集合，這些與 Linux 發(fā)行版（如 Ubuntu）類似。ROS 發(fā)行版的目的是讓開發(fā)者可以基于一個相對穩(wěn)定的代碼庫來工作，直到他們可以平穩(wěn)地向前演進(jìn)。一旦發(fā)行版發(fā)布，官方就會限制對其的改動，而僅僅提供對于核心包的 bug fixes 和非破壞性的增強(qiáng)。

當(dāng)前（2018-01-28） ROS 系統(tǒng)已經(jīng)發(fā)布了多個版本。ROS 最新的一些版本如下：

ROS 系統(tǒng)版本時間發(fā)布支持時間

ROS Lunar Loggerhead	May 23rd, 2017	May, 2019
ROS Kinetic Kame	May 23rd, 2016	LTS，April, 2021 (Xenial EOL)
ROS Jade Turtle	May 23rd, 2015	May, 2017
ROS Indigo Igloo	July 22nd, 2014	LTS，April, 2019(Trusty EOL)
ROS Hydro Medusa	September 4th, 2013	May, 2015

ROS 基本上保持每年一個新版本，每兩年一個長期發(fā)行版的發(fā)布節(jié)奏。關(guān)于 ROS 版本發(fā)布的更多內(nèi)容，如更多的發(fā)行版的介紹，發(fā)布的計劃等，可以參考 ROS 官方站點(diǎn)的 Distributions 主頁。

目前官方推薦使用最近的一個長期支持版本，即 ROS Kinetic Kame，求新的同時兼顧穩(wěn)定性無疑應(yīng)該采用這一版本，如果想要嘗試最新的功能特性則可以使用最新的發(fā)行版 ROS Lunar Loggerhead。

ROS 的安裝步驟如下。

配置 Ubuntu 倉庫

配置 Ubuntu 倉庫，以允許 “restricted”，”universe” 和 “multiverse”。打開 新立得包管理器，如下圖：

選擇 設(shè)置 -> 軟件庫(R)，彈出如下對話框：

打開 “Ubuntu 軟件” Tab 頁，勾選 “restricted”，”universe” 和 “multiverse” 等選項(xiàng)，如上圖所示。通常情況下，這些選項(xiàng)都是默認(rèn)選中的，因此這一步一般不會遇到什么問題。

設(shè)置 sources.list

為 Ubuntu 的包管理器增加源，設(shè)置計算機(jī)接受來自于 packages.ros.org 的軟件。

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

這一步會根據(jù) Ubuntu Linux 發(fā)行版本的不同，添加不同的源。Ubuntu 的版本通過 lsb_release -sc 獲得。

一旦添加了正確的軟件庫，操作系統(tǒng)就知道去哪里下載程序，并根據(jù)命令自動安裝軟件。

設(shè)置密鑰

這一步是為了確認(rèn)源代碼是正確的，并且沒有人在未經(jīng)所有者授權(quán)的情況下，修改任何程序代碼。通常情況下，當(dāng)添加完軟件庫時，已經(jīng)添加了軟件庫的密鑰，并將其添加到操作系統(tǒng)的可信任列表中。

設(shè)置密鑰的命令如下：

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

如果在連接密鑰服務(wù)器時遇到了問題，可以嘗試在上面的命令中用 hkp://pgp.mit.edu:80 或 hkp://keyserver.ubuntu.com:80 來替換。

安裝

首先，需要確保包管理器的索引已經(jīng)更新至最新：

sudo apt-get update

ROS 中有非常多不同的庫和工具。官方提供了四種默認(rèn)的配置來安裝 ROS。也可以獨(dú)立地安裝 ROS 包。

桌面完整安裝（推薦采用）：ROS，rqt,?rviz，機(jī)器人通用庫，2D/3D 仿真器，導(dǎo)航及 2D/3D 感知

$ sudo apt-get install ros-kinetic-desktop-full 正在讀取軟件包列表... 完成 正在分析軟件包的依賴關(guān)系樹 正在讀取狀態(tài)信息... 完成 . . . . . . 將會同時安裝下列軟件：binfmt-support blt cpp-5 docutils-common docutils-doc fltk1.3-doc fluid fonts-lyx freeglut3 freeglut3-dev g++-5g++-5-multilib gazebo7 gazebo7-common gazebo7-plugin-base gcc-5 gcc-5-base gcc-5-base:i386 gcc-5-multilibgfortran gfortran-5 hddtemp hdf5-helpers lib32asan2 lib32atomic1 lib32cilkrts5 lib32gcc-5-dev lib32gomp1lib32itm1 lib32mpx0 lib32quadmath0 lib32stdc++-5-dev lib32stdc++6 lib32ubsan0 libaec-dev libaec0 libapr1-devlibaprutil1-dev libarmadillo6 libarpack2 libasan2 libassimp-dev libassimp3v5 libatomic1 libavcodec-devlibavformat-dev libavutil-dev libblas-dev libboost-all-dev libboost-atomic-dev libboost-atomic1.58-devlibboost-atomic1.58.0 libboost-chrono-dev libboost-chrono1.58-dev libboost-chrono1.58.0 libboost-context-devlibboost-context1.58-dev libboost-context1.58.0 libboost-coroutine-dev libboost-coroutine1.58-devlibboost-coroutine1.58.0 libboost-date-time-dev libboost-date-time1.58-dev libboost-dev libboost-exception-devlibboost-exception1.58-dev libboost-filesystem-dev libboost-filesystem1.58-dev libboost-graph-devlibboost-graph-parallel-dev libboost-graph-parallel1.58-dev libboost-graph-parallel1.58.0libboost-graph1.58-dev libboost-graph1.58.0 libboost-iostreams-dev libboost-iostreams1.58-devlibboost-locale-dev libboost-locale1.58-dev libboost-locale1.58.0 libboost-log-dev libboost-log1.58-devlibboost-log1.58.0 libboost-math-dev libboost-math1.58-dev libboost-math1.58.0 libboost-mpi-devlibboost-mpi-python-dev libboost-mpi-python1.58-dev libboost-mpi-python1.58.0 libboost-mpi1.58-devlibboost-mpi1.58.0 libboost-program-options-dev libboost-program-options1.58-dev libboost-python-devlibboost-python1.58-dev libboost-python1.58.0 libboost-random-dev libboost-random1.58-dev libboost-random1.58.0libboost-regex-dev libboost-regex1.58-dev libboost-regex1.58.0 libboost-serialization-devlibboost-serialization1.58-dev libboost-serialization1.58.0 libboost-signals-dev libboost-signals1.58-devlibboost-signals1.58.0 libboost-system-dev libboost-system1.58-dev libboost-test-dev libboost-test1.58-devlibboost-test1.58.0 libboost-thread-dev libboost-thread1.58-dev libboost-timer-dev libboost-timer1.58-devlibboost-timer1.58.0 libboost-tools-dev libboost-wave-dev libboost-wave1.58-dev libboost-wave1.58.0libboost1.58-dev libboost1.58-tools-dev libbulletcollision2.83.6 libbulletdynamics2.83.6 libcc1-0 libcilkrts5libcollada-dom2.4-dp-dev libcollada-dom2.4-dp0 libconsole-bridge-dev libconsole-bridge0.2v5libcurl4-openssl-dev libdap-dev libdap17v5 libdapclient6v5 libdapserver7v5 libeigen3-dev libepsilon1libflann-dev libflann1.8 libfltk-cairo1.3 libfltk-forms1.3 libfltk-gl1.3 libfltk-images1.3 libfltk1.3libfltk1.3-dev libfreeimage-dev libfreeimage3 libfreexl1 libgazebo7 libgazebo7-dev libgcc-5-dev libgdal-devlibgdal1i libgeos-3.5.0 libgeos-c1v5 libgeos-dev libgfortran-5-dev libgfortran3 libgif-dev libgl2ps-devlibgl2ps0 libglade2-0 libgomp1 libgtest-dev libgts-0.7-5 libgts-bin libgts-dev libhdf4-0-alt libhdf4-alt-devlibhdf5-10 libhdf5-cpp-11 libhdf5-dev libhdf5-mpi-dev libhdf5-openmpi-10 libhdf5-openmpi-dev libhwloc-devlibhwloc-plugins libhwloc5 libibverbs-dev libibverbs1 libignition-math2 libignition-math2-dev libinput-binlibinput-dev libinput10 libitm1 libjasper-dev libjbig-dev libjs-jquery-ui libjsoncpp-dev libjxr0 libkmlbase1libkmldom1 libkmlengine1 liblapack-dev libldap2-dev liblinearmath2.83.6 liblog4cxx-dev liblog4cxx10-devliblog4cxx10v5 liblsan0 liblz4-dev liblzma-dev libminizip1 libmpx0 libmysqlclient-dev libmysqlclient20libnetcdf-c++4 libnetcdf-cxx-legacy-dev libnetcdf-dev libnetcdf11 libnuma-dev libodbc1 libogdi3.2 libogg-devlibogre-1.9-dev libogre-1.9.0v5 libopenjp2-7 libopenmpi-dev libopenmpi1.10 libopenni-devlibopenni-sensor-pointclouds0 libopenni0 libpcl-apps1.7 libpcl-common1.7 libpcl-dev libpcl-features1.7libpcl-filters1.7 libpcl-io1.7 libpcl-kdtree1.7 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libqt5xml5 libqt5xmlpatterns5 libqt5xmlpatterns5-dev libqt5xmlpatterns5-private-devlibqtwebkit-dev libquadmath0 libsdformat4 libsdformat4-dev libshiboken-py3-2.0 libshiboken2-dev libshiboken2.0libsimbody-dev libsimbody3.5v5 libspatialite-dev libspatialite7 libspnav0 libstdc++-5-dev libstdc++6libstdc++6:i386 libsuperlu4 libswresample-dev libswscale-dev libsz2 libtar-dev libtar0 libtbb-dev libtheora-devlibtiff5-dev libtiffxx5 libtinyxml-dev libtinyxml2-2v5 libtinyxml2-dev libtsan0 libubsan0 liburdfdom-devliburdfdom-headers-dev liburdfdom-model-state0.4 liburdfdom-model0.4 liburdfdom-sensor0.4 liburdfdom-toolsliburdfdom-world0.4 liburiparser1 libusb-1.0-0-dev libusb-1.0-doc libuuid1 libvtk-java libvtk5.10 libvtk6-devlibvtk6-java libvtk6-qt-dev libvtk6.2 libvtk6.2-qt libwacom-bin libwacom-common libwacom2 libwebp-devlibwebpdemux1 libx32asan2 libx32atomic1 libx32cilkrts5 libx32gcc-5-dev libx32gomp1 libx32itm1 libx32quadmath0libx32stdc++-5-dev libx32stdc++6 libx32ubsan0 libxerces-c-dev libxerces-c3.1 libxmu-dev libxmu-headerslibyaml-cpp-dev libzzip-0-13 mpi-default-bin mpi-default-dev ocl-icd-libopencl1 odbcinst odbcinst1debian2openmpi-bin openmpi-common openni-utils proj-bin proj-data pyqt5-dev python-attr python-autobahnpython-catkin-pkg python-catkin-pkg-modules python-chardet python-concurrent.futures python-cyclerpython-defusedxml python-docutils python-ecdsa python-empy python-glade2 python-gobject-2 python-gtk2python-imaging python-lz4 python-matplotlib python-matplotlib-data python-mpi4py python-msgpackpython-netifaces python-nose python-opengl python-pam python-paramiko python-pil python-pyasn1-modulespython-pydot python-pygments python-pyqt5 python-pyqt5.qtopengl python-pyqt5.qtsvg python-pyqt5.qtwebkitpython-pyside2 python-pyside2.qtconcurrent python-pyside2.qtcore python-pyside2.qtgui python-pyside2.qthelppython-pyside2.qtnetwork python-pyside2.qtprintsupport python-pyside2.qtqml python-pyside2.qtquickpython-pyside2.qtquickwidgets python-pyside2.qtscript python-pyside2.qtsql python-pyside2.qtsvgpython-pyside2.qttest python-pyside2.qtuitools python-pyside2.qtwebkit python-pyside2.qtwebkitwidgetspython-pyside2.qtwidgets python-pyside2.qtx11extras python-pyside2.qtxml python-roman python-rosdeppython-rosdistro python-rosdistro-modules python-rospkg python-rospkg-modules python-serialpython-service-identity python-sip python-sip-dev python-snappy python-tk python-trollius python-twistedpython-twisted-bin python-twisted-core python-txaio python-vtk6 python-wxgtk3.0 python-wxtools python-wxversionpython-zope.interface qt4-linguist-tools qt4-qmake qt5-qmake qtbase5-dev qtbase5-dev-tools qtbase5-private-devqtdeclarative5-dev qtdeclarative5-private-dev qtmultimedia5-dev qtscript5-dev qtscript5-private-devqttools5-dev qttools5-dev-tools qttools5-private-dev ros-kinetic-actionlib ros-kinetic-actionlib-msgsros-kinetic-actionlib-tutorials ros-kinetic-angles ros-kinetic-bond ros-kinetic-bond-core ros-kinetic-bondcppros-kinetic-bondpy ros-kinetic-camera-calibration ros-kinetic-camera-calibration-parsersros-kinetic-camera-info-manager ros-kinetic-catkin ros-kinetic-class-loader ros-kinetic-cmake-modulesros-kinetic-collada-parser ros-kinetic-collada-urdf ros-kinetic-common-msgs ros-kinetic-common-tutorialsros-kinetic-compressed-depth-image-transport ros-kinetic-compressed-image-transport ros-kinetic-control-msgsros-kinetic-cpp-common ros-kinetic-cv-bridge ros-kinetic-depth-image-proc ros-kinetic-desktopros-kinetic-diagnostic-aggregator ros-kinetic-diagnostic-analysis ros-kinetic-diagnostic-common-diagnosticsros-kinetic-diagnostic-msgs ros-kinetic-diagnostic-updater ros-kinetic-diagnosticsros-kinetic-dynamic-reconfigure ros-kinetic-eigen-conversions ros-kinetic-eigen-stl-containersros-kinetic-executive-smach ros-kinetic-filters ros-kinetic-gazebo-dev ros-kinetic-gazebo-msgsros-kinetic-gazebo-plugins ros-kinetic-gazebo-ros ros-kinetic-gazebo-ros-pkgs ros-kinetic-gencppros-kinetic-geneus ros-kinetic-genlisp ros-kinetic-genmsg ros-kinetic-gennodejs ros-kinetic-genpyros-kinetic-geometric-shapes ros-kinetic-geometry ros-kinetic-geometry-msgs ros-kinetic-geometry-tutorialsros-kinetic-gl-dependency ros-kinetic-image-common ros-kinetic-image-geometry ros-kinetic-image-pipelineros-kinetic-image-proc ros-kinetic-image-publisher ros-kinetic-image-rotate ros-kinetic-image-transportros-kinetic-image-transport-plugins ros-kinetic-image-view ros-kinetic-interactive-marker-tutorialsros-kinetic-interactive-markers ros-kinetic-joint-state-publisher ros-kinetic-kdl-conversionsros-kinetic-kdl-parser ros-kinetic-laser-assembler ros-kinetic-laser-filters ros-kinetic-laser-geometryros-kinetic-laser-pipeline ros-kinetic-librviz-tutorial ros-kinetic-map-msgs ros-kinetic-media-exportros-kinetic-message-filters ros-kinetic-message-generation ros-kinetic-message-runtime ros-kinetic-mkros-kinetic-nav-msgs ros-kinetic-nodelet ros-kinetic-nodelet-core ros-kinetic-nodelet-topic-toolsros-kinetic-nodelet-tutorial-math ros-kinetic-octomap ros-kinetic-opencv3 ros-kinetic-orocos-kdlros-kinetic-pcl-conversions ros-kinetic-pcl-msgs ros-kinetic-pcl-ros ros-kinetic-perceptionros-kinetic-perception-pcl ros-kinetic-pluginlib ros-kinetic-pluginlib-tutorials ros-kinetic-polled-cameraros-kinetic-python-orocos-kdl ros-kinetic-python-qt-binding ros-kinetic-qt-dotgraph ros-kinetic-qt-guiros-kinetic-qt-gui-cpp ros-kinetic-qt-gui-py-common ros-kinetic-qwt-dependency ros-kinetic-random-numbersros-kinetic-resource-retriever ros-kinetic-robot ros-kinetic-robot-model ros-kinetic-robot-state-publisherros-kinetic-ros ros-kinetic-ros-base ros-kinetic-ros-comm ros-kinetic-ros-core ros-kinetic-ros-tutorialsros-kinetic-rosbag ros-kinetic-rosbag-migration-rule ros-kinetic-rosbag-storage ros-kinetic-rosbashros-kinetic-rosboost-cfg ros-kinetic-rosbuild ros-kinetic-rosclean ros-kinetic-rosconsoleros-kinetic-rosconsole-bridge ros-kinetic-roscpp ros-kinetic-roscpp-core ros-kinetic-roscpp-serializationros-kinetic-roscpp-traits ros-kinetic-roscpp-tutorials ros-kinetic-roscreate ros-kinetic-rosgraphros-kinetic-rosgraph-msgs ros-kinetic-roslang ros-kinetic-roslaunch ros-kinetic-roslib ros-kinetic-roslintros-kinetic-roslisp ros-kinetic-roslz4 ros-kinetic-rosmake ros-kinetic-rosmaster ros-kinetic-rosmsgros-kinetic-rosnode ros-kinetic-rosout ros-kinetic-rospack ros-kinetic-rosparam ros-kinetic-rospyros-kinetic-rospy-tutorials ros-kinetic-rosservice ros-kinetic-rostest ros-kinetic-rostime ros-kinetic-rostopicros-kinetic-rosunit ros-kinetic-roswtf ros-kinetic-rqt-action ros-kinetic-rqt-bag ros-kinetic-rqt-bag-pluginsros-kinetic-rqt-common-plugins ros-kinetic-rqt-console ros-kinetic-rqt-dep ros-kinetic-rqt-graphros-kinetic-rqt-gui ros-kinetic-rqt-gui-cpp ros-kinetic-rqt-gui-py ros-kinetic-rqt-image-viewros-kinetic-rqt-launch ros-kinetic-rqt-logger-level ros-kinetic-rqt-moveit ros-kinetic-rqt-msgros-kinetic-rqt-nav-view ros-kinetic-rqt-plot ros-kinetic-rqt-pose-view ros-kinetic-rqt-publisherros-kinetic-rqt-py-common ros-kinetic-rqt-py-console ros-kinetic-rqt-reconfigureros-kinetic-rqt-robot-dashboard ros-kinetic-rqt-robot-monitor ros-kinetic-rqt-robot-pluginsros-kinetic-rqt-robot-steering ros-kinetic-rqt-runtime-monitor ros-kinetic-rqt-rvizros-kinetic-rqt-service-caller ros-kinetic-rqt-shell ros-kinetic-rqt-srv ros-kinetic-rqt-tf-treeros-kinetic-rqt-top ros-kinetic-rqt-topic ros-kinetic-rqt-web ros-kinetic-rvizros-kinetic-rviz-plugin-tutorials ros-kinetic-rviz-python-tutorial ros-kinetic-self-testros-kinetic-sensor-msgs ros-kinetic-shape-msgs ros-kinetic-simulators ros-kinetic-smach ros-kinetic-smach-msgsros-kinetic-smach-ros ros-kinetic-smclib ros-kinetic-stage ros-kinetic-stage-ros ros-kinetic-std-msgsros-kinetic-std-srvs ros-kinetic-stereo-image-proc ros-kinetic-stereo-msgs ros-kinetic-tfros-kinetic-tf-conversions ros-kinetic-tf2 ros-kinetic-tf2-eigen ros-kinetic-tf2-geometry-msgsros-kinetic-tf2-kdl ros-kinetic-tf2-msgs ros-kinetic-tf2-py ros-kinetic-tf2-rosros-kinetic-theora-image-transport ros-kinetic-topic-tools ros-kinetic-trajectory-msgsros-kinetic-turtle-actionlib ros-kinetic-turtle-tf ros-kinetic-turtle-tf2 ros-kinetic-turtlesimros-kinetic-urdf ros-kinetic-urdf-parser-plugin ros-kinetic-urdf-tutorial ros-kinetic-vision-opencvros-kinetic-visualization-marker-tutorials ros-kinetic-visualization-msgs ros-kinetic-visualization-tutorialsros-kinetic-viz ros-kinetic-webkit-dependency ros-kinetic-xacro ros-kinetic-xmlrpcpp sbcl sdformat-sdfshiboken2 sip-dev tango-icon-theme tcl-dev tcl-vtk6 tcl8.6-dev tk-dev tk8.6-blt2.5 tk8.6-dev ttf-bitstream-verattf-liberation unixodbc unixodbc-dev uuid-dev vtk6 建議安裝：blt-demo gcc-5-locales gcc-5-doc libstdc++6-5-dbg lib32stdc++6-5-dbg libx32stdc++6-5-dbg gazebo7-doclibgomp1-dbg libitm1-dbg libatomic1-dbg libasan2-dbg liblsan0-dbg libtsan0-dbg libubsan0-dbg libcilkrts5-dbglibmpx0-dbg libquadmath0-dbg gfortran-multilib gfortran-doc gfortran-5-multilib gfortran-5-doc libgfortran3-dbgksensors liblapack-doc-man liblapack-doc libboost-doc libboost1.58-doc gccxml libmpfrc++-dev libntl-dev doxygendefault-jdk fop libbullet2-dev libbullet2 libcurl4-doc libcurl3-dbg libidn11-dev librtmp-dev libeigen3-doclibmrpt-dev libgdal-doc libgts-doc libhdf4-doc hdf4-tools libnetcdf4 libhdf5-doc libhwloc-contrib-pluginslibjs-jquery-ui-docs liblog4cxx-doc liblzma-doc netcdf-bin netcdf-doc libmyodbc odbc-postgresql tdsodbcunixodbc-bin ogdi-bin ogre-1.9-doc libogre-1.9.0v5-dbg opennmpi-doc openni-doc libpcl-doc libpoco-doclibpococrypto9v5-dbg libpocodata9v5-dbg libpocofoundation9v5-dbg libpocomysql9v5-dbg libpoconet9v5-dbglibpoconetssl9v5-dbg libpocoodbc9v5-dbg libpocosqlite9v5-dbg libpocoutil9v5-dbg libpocoxml9v5-dbglibpocozip9v5-dbg postgresql-doc-9.5 firebird-dev libsqlite0-dev qt4-dev-tools qt4-doc libqt5libqgtk2qt5-image-formats-plugins spacenavd libstdc++-5-doc tbb-examples libtbb-doc libtinyxml-doc java-virtual-machinelibvtk5-dev vtk-doc vtk-examples vtk6-doc vtk6-examples libxerces-c-doc opencl-icd openmpi-checkpointtexlive-latex-recommended texlive-latex-base texlive-lang-french fonts-linuxlibertine | ttf-linux-libertinepython-gtk2-doc python-gobject-2-dbg dvipng inkscape ipython python-cairocffi python-configobjpython-excelerator python-gobject python-matplotlib-doc python-qt4 python-scipy python-tornado python-traitstexlive-extra-utils texlive-latex-extra ttf-staypuft python-coverage python-nose-doc libgle3 python-pam-dbgpython-pil-doc python-pil-dbg python-pyqt5-dbg python-sip-doc tix python-tk-dbg python-twisted-bin-dbgpython-qt3 python-txaio-doc mayavi2 sbcl-doc sbcl-source slime gnome-icon-theme kdelibs-data tcl-doc tcl8.6-doctk-doc tk8.6-doc 下列軟件包將被【卸載】：libcurl4-gnutls-dev 下列【新】軟件包將被安裝：binfmt-support blt docutils-common docutils-doc fltk1.3-doc fluid fonts-lyx freeglut3 freeglut3-dev gazebo7gazebo7-common gazebo7-plugin-base gfortran gfortran-5 hddtemp hdf5-helpers libaec-dev libaec0 libapr1-devlibaprutil1-dev libarmadillo6 libarpack2 libassimp-dev libassimp3v5 libavcodec-dev libavformat-devlibavutil-dev libblas-dev libboost-all-dev libboost-atomic-dev libboost-atomic1.58-dev libboost-atomic1.58.0libboost-chrono-dev libboost-chrono1.58-dev libboost-chrono1.58.0 libboost-context-dev libboost-context1.58-devlibboost-context1.58.0 libboost-coroutine-dev libboost-coroutine1.58-dev libboost-coroutine1.58.0libboost-date-time-dev libboost-date-time1.58-dev libboost-dev libboost-exception-devlibboost-exception1.58-dev libboost-filesystem-dev libboost-filesystem1.58-dev libboost-graph-devlibboost-graph-parallel-dev libboost-graph-parallel1.58-dev libboost-graph-parallel1.58.0libboost-graph1.58-dev libboost-graph1.58.0 libboost-iostreams-dev libboost-iostreams1.58-devlibboost-locale-dev libboost-locale1.58-dev libboost-locale1.58.0 libboost-log-dev libboost-log1.58-devlibboost-log1.58.0 libboost-math-dev libboost-math1.58-dev libboost-math1.58.0 libboost-mpi-devlibboost-mpi-python-dev libboost-mpi-python1.58-dev libboost-mpi-python1.58.0 libboost-mpi1.58-devlibboost-mpi1.58.0 libboost-program-options-dev libboost-program-options1.58-dev libboost-python-devlibboost-python1.58-dev libboost-python1.58.0 libboost-random-dev libboost-random1.58-dev libboost-random1.58.0libboost-regex-dev libboost-regex1.58-dev libboost-regex1.58.0 libboost-serialization-devlibboost-serialization1.58-dev libboost-serialization1.58.0 libboost-signals-dev libboost-signals1.58-devlibboost-signals1.58.0 libboost-system-dev libboost-system1.58-dev libboost-test-dev libboost-test1.58-devlibboost-test1.58.0 libboost-thread-dev libboost-thread1.58-dev libboost-timer-dev libboost-timer1.58-devlibboost-timer1.58.0 libboost-tools-dev libboost-wave-dev libboost-wave1.58-dev libboost-wave1.58.0libboost1.58-dev libboost1.58-tools-dev libbulletcollision2.83.6 libbulletdynamics2.83.6libcollada-dom2.4-dp-dev libcollada-dom2.4-dp0 libconsole-bridge-dev libconsole-bridge0.2v5libcurl4-openssl-dev libdap-dev libdap17v5 libdapclient6v5 libdapserver7v5 libeigen3-dev libepsilon1libflann-dev libflann1.8 libfltk-cairo1.3 libfltk-forms1.3 libfltk-gl1.3 libfltk-images1.3 libfltk1.3libfltk1.3-dev libfreeimage-dev libfreeimage3 libfreexl1 libgazebo7 libgazebo7-dev libgdal-dev libgdal1ilibgeos-3.5.0 libgeos-c1v5 libgeos-dev libgfortran-5-dev libgif-dev libgl2ps-dev libgl2ps0 libglade2-0libgtest-dev libgts-0.7-5 libgts-bin libgts-dev libhdf4-0-alt libhdf4-alt-dev libhdf5-10 libhdf5-cpp-11libhdf5-dev libhdf5-mpi-dev libhdf5-openmpi-10 libhdf5-openmpi-dev libhwloc-dev libhwloc-plugins libhwloc5libibverbs-dev libibverbs1 libignition-math2 libignition-math2-dev libinput-bin libinput-dev libjasper-devlibjbig-dev libjs-jquery-ui libjsoncpp-dev libjxr0 libkmlbase1 libkmldom1 libkmlengine1 liblapack-devlibldap2-dev liblinearmath2.83.6 liblog4cxx-dev liblog4cxx10-dev liblog4cxx10v5 liblz4-dev liblzma-devlibminizip1 libmysqlclient-dev libmysqlclient20 libnetcdf-c++4 libnetcdf-cxx-legacy-dev libnetcdf-devlibnetcdf11 libnuma-dev libodbc1 libogdi3.2 libogg-dev libogre-1.9-dev libogre-1.9.0v5 libopenjp2-7libopenmpi-dev libopenmpi1.10 libopenni-dev libopenni-sensor-pointclouds0 libopenni0 libpcl-apps1.7libpcl-common1.7 libpcl-dev libpcl-features1.7 libpcl-filters1.7 libpcl-io1.7 libpcl-kdtree1.7libpcl-keypoints1.7 libpcl-octree1.7 libpcl-outofcore1.7 libpcl-people1.7 libpcl-recognition1.7libpcl-registration1.7 libpcl-sample-consensus1.7 libpcl-search1.7 libpcl-segmentation1.7 libpcl-surface1.7libpcl-tracking1.7 libpcl-visualization1.7 libpcl1.7 libpoco-dev libpococrypto9v5 libpocodata9v5libpocofoundation9v5 libpocomysql9v5 libpoconet9v5 libpoconetssl9v5 libpocoodbc9v5 libpocosqlite9v5libpocoutil9v5 libpocoxml9v5 libpocozip9v5 libpq-dev libproj-dev libproj9 libprotoc-dev libprotoc9v5libpyside-py3-2.0 libpyside2-dev libpyside2.0 libqhull-dev libqhull7 libqt4-dev libqt4-dev-bin libqt4-helplibqt4-opengl-dev libqt4-scripttools libqt4-test libqt5clucene5 libqt5concurrent5 libqt5designer5libqt5designercomponents5 libqt5help5 libqt5multimediaquick-p5 libqt5opengl5-dev libqt5quickparticles5libqt5scripttools5 libqt5svg5-dev libqt5webkit5-dev libqt5x11extras5-dev libqt5xmlpatterns5libqt5xmlpatterns5-dev libqt5xmlpatterns5-private-dev libqtwebkit-dev libsdformat4 libsdformat4-devlibshiboken-py3-2.0 libshiboken2-dev libshiboken2.0 libsimbody-dev libsimbody3.5v5 libspatialite-devlibspatialite7 libspnav0 libsuperlu4 libswresample-dev libswscale-dev libsz2 libtar-dev libtar0 libtbb-devlibtheora-dev libtiff5-dev libtiffxx5 libtinyxml-dev libtinyxml2-2v5 libtinyxml2-dev liburdfdom-devliburdfdom-headers-dev liburdfdom-model-state0.4 liburdfdom-model0.4 liburdfdom-sensor0.4 liburdfdom-toolsliburdfdom-world0.4 liburiparser1 libusb-1.0-0-dev libusb-1.0-doc libvtk-java libvtk5.10 libvtk6-devlibvtk6-java libvtk6-qt-dev libvtk6.2 libvtk6.2-qt libwebp-dev libwebpdemux1 libxerces-c-dev libxerces-c3.1libxmu-dev libxmu-headers libyaml-cpp-dev libzzip-0-13 mpi-default-bin mpi-default-dev ocl-icd-libopencl1odbcinst odbcinst1debian2 openmpi-bin openmpi-common openni-utils proj-bin proj-data pyqt5-dev python-attrpython-autobahn python-catkin-pkg python-catkin-pkg-modules python-chardet python-concurrent.futurespython-cycler python-defusedxml python-docutils python-ecdsa python-empy python-glade2 python-gobject-2python-gtk2 python-imaging python-lz4 python-matplotlib python-matplotlib-data python-mpi4py python-msgpackpython-netifaces python-nose python-opengl python-pam python-paramiko python-pil python-pyasn1-modulespython-pydot python-pygments python-pyqt5 python-pyqt5.qtopengl python-pyqt5.qtsvg python-pyqt5.qtwebkitpython-pyside2 python-pyside2.qtconcurrent python-pyside2.qtcore python-pyside2.qtgui python-pyside2.qthelppython-pyside2.qtnetwork python-pyside2.qtprintsupport python-pyside2.qtqml python-pyside2.qtquickpython-pyside2.qtquickwidgets python-pyside2.qtscript python-pyside2.qtsql python-pyside2.qtsvgpython-pyside2.qttest python-pyside2.qtuitools python-pyside2.qtwebkit python-pyside2.qtwebkitwidgetspython-pyside2.qtwidgets python-pyside2.qtx11extras python-pyside2.qtxml python-roman python-rosdeppython-rosdistro python-rosdistro-modules python-rospkg python-rospkg-modules python-serialpython-service-identity python-sip python-sip-dev python-snappy python-tk python-trollius python-twistedpython-twisted-bin python-twisted-core python-txaio python-vtk6 python-wxgtk3.0 python-wxtools python-wxversionpython-zope.interface qt4-linguist-tools qt4-qmake qt5-qmake qtbase5-dev qtbase5-dev-tools qtbase5-private-devqtdeclarative5-dev qtdeclarative5-private-dev qtmultimedia5-dev qtscript5-dev qtscript5-private-devqttools5-dev qttools5-dev-tools qttools5-private-dev ros-kinetic-actionlib ros-kinetic-actionlib-msgsros-kinetic-actionlib-tutorials ros-kinetic-angles ros-kinetic-bond ros-kinetic-bond-core ros-kinetic-bondcppros-kinetic-bondpy ros-kinetic-camera-calibration ros-kinetic-camera-calibration-parsersros-kinetic-camera-info-manager ros-kinetic-catkin ros-kinetic-class-loader ros-kinetic-cmake-modulesros-kinetic-collada-parser ros-kinetic-collada-urdf ros-kinetic-common-msgs ros-kinetic-common-tutorialsros-kinetic-compressed-depth-image-transport ros-kinetic-compressed-image-transport ros-kinetic-control-msgsros-kinetic-cpp-common ros-kinetic-cv-bridge ros-kinetic-depth-image-proc ros-kinetic-desktopros-kinetic-desktop-full ros-kinetic-diagnostic-aggregator ros-kinetic-diagnostic-analysisros-kinetic-diagnostic-common-diagnostics ros-kinetic-diagnostic-msgs ros-kinetic-diagnostic-updaterros-kinetic-diagnostics ros-kinetic-dynamic-reconfigure ros-kinetic-eigen-conversionsros-kinetic-eigen-stl-containers ros-kinetic-executive-smach ros-kinetic-filters ros-kinetic-gazebo-devros-kinetic-gazebo-msgs ros-kinetic-gazebo-plugins ros-kinetic-gazebo-ros ros-kinetic-gazebo-ros-pkgsros-kinetic-gencpp ros-kinetic-geneus ros-kinetic-genlisp ros-kinetic-genmsg ros-kinetic-gennodejsros-kinetic-genpy ros-kinetic-geometric-shapes ros-kinetic-geometry ros-kinetic-geometry-msgsros-kinetic-geometry-tutorials ros-kinetic-gl-dependency ros-kinetic-image-common ros-kinetic-image-geometryros-kinetic-image-pipeline ros-kinetic-image-proc ros-kinetic-image-publisher ros-kinetic-image-rotateros-kinetic-image-transport ros-kinetic-image-transport-plugins ros-kinetic-image-viewros-kinetic-interactive-marker-tutorials ros-kinetic-interactive-markers ros-kinetic-joint-state-publisherros-kinetic-kdl-conversions ros-kinetic-kdl-parser ros-kinetic-laser-assembler ros-kinetic-laser-filtersros-kinetic-laser-geometry ros-kinetic-laser-pipeline ros-kinetic-librviz-tutorial ros-kinetic-map-msgsros-kinetic-media-export ros-kinetic-message-filters ros-kinetic-message-generation ros-kinetic-message-runtimeros-kinetic-mk ros-kinetic-nav-msgs ros-kinetic-nodelet ros-kinetic-nodelet-coreros-kinetic-nodelet-topic-tools ros-kinetic-nodelet-tutorial-math ros-kinetic-octomap ros-kinetic-opencv3ros-kinetic-orocos-kdl ros-kinetic-pcl-conversions ros-kinetic-pcl-msgs ros-kinetic-pcl-rosros-kinetic-perception ros-kinetic-perception-pcl ros-kinetic-pluginlib ros-kinetic-pluginlib-tutorialsros-kinetic-polled-camera ros-kinetic-python-orocos-kdl ros-kinetic-python-qt-binding ros-kinetic-qt-dotgraphros-kinetic-qt-gui ros-kinetic-qt-gui-cpp ros-kinetic-qt-gui-py-common ros-kinetic-qwt-dependencyros-kinetic-random-numbers ros-kinetic-resource-retriever ros-kinetic-robot ros-kinetic-robot-modelros-kinetic-robot-state-publisher ros-kinetic-ros ros-kinetic-ros-base ros-kinetic-ros-commros-kinetic-ros-core ros-kinetic-ros-tutorials ros-kinetic-rosbag ros-kinetic-rosbag-migration-ruleros-kinetic-rosbag-storage ros-kinetic-rosbash ros-kinetic-rosboost-cfg ros-kinetic-rosbuildros-kinetic-rosclean ros-kinetic-rosconsole ros-kinetic-rosconsole-bridge ros-kinetic-roscppros-kinetic-roscpp-core ros-kinetic-roscpp-serialization ros-kinetic-roscpp-traits ros-kinetic-roscpp-tutorialsros-kinetic-roscreate ros-kinetic-rosgraph ros-kinetic-rosgraph-msgs ros-kinetic-roslang ros-kinetic-roslaunchros-kinetic-roslib ros-kinetic-roslint ros-kinetic-roslisp ros-kinetic-roslz4 ros-kinetic-rosmakeros-kinetic-rosmaster ros-kinetic-rosmsg ros-kinetic-rosnode ros-kinetic-rosout ros-kinetic-rospackros-kinetic-rosparam ros-kinetic-rospy ros-kinetic-rospy-tutorials ros-kinetic-rosservice ros-kinetic-rostestros-kinetic-rostime ros-kinetic-rostopic ros-kinetic-rosunit ros-kinetic-roswtf ros-kinetic-rqt-actionros-kinetic-rqt-bag ros-kinetic-rqt-bag-plugins ros-kinetic-rqt-common-plugins ros-kinetic-rqt-consoleros-kinetic-rqt-dep ros-kinetic-rqt-graph ros-kinetic-rqt-gui ros-kinetic-rqt-gui-cpp ros-kinetic-rqt-gui-pyros-kinetic-rqt-image-view ros-kinetic-rqt-launch ros-kinetic-rqt-logger-level ros-kinetic-rqt-moveitros-kinetic-rqt-msg ros-kinetic-rqt-nav-view ros-kinetic-rqt-plot ros-kinetic-rqt-pose-viewros-kinetic-rqt-publisher ros-kinetic-rqt-py-common ros-kinetic-rqt-py-console ros-kinetic-rqt-reconfigureros-kinetic-rqt-robot-dashboard ros-kinetic-rqt-robot-monitor ros-kinetic-rqt-robot-pluginsros-kinetic-rqt-robot-steering ros-kinetic-rqt-runtime-monitor ros-kinetic-rqt-rvizros-kinetic-rqt-service-caller ros-kinetic-rqt-shell ros-kinetic-rqt-srv ros-kinetic-rqt-tf-treeros-kinetic-rqt-top ros-kinetic-rqt-topic ros-kinetic-rqt-web ros-kinetic-rvizros-kinetic-rviz-plugin-tutorials ros-kinetic-rviz-python-tutorial ros-kinetic-self-testros-kinetic-sensor-msgs ros-kinetic-shape-msgs ros-kinetic-simulators ros-kinetic-smach ros-kinetic-smach-msgsros-kinetic-smach-ros ros-kinetic-smclib ros-kinetic-stage ros-kinetic-stage-ros ros-kinetic-std-msgsros-kinetic-std-srvs ros-kinetic-stereo-image-proc ros-kinetic-stereo-msgs ros-kinetic-tfros-kinetic-tf-conversions ros-kinetic-tf2 ros-kinetic-tf2-eigen ros-kinetic-tf2-geometry-msgsros-kinetic-tf2-kdl ros-kinetic-tf2-msgs ros-kinetic-tf2-py ros-kinetic-tf2-rosros-kinetic-theora-image-transport ros-kinetic-topic-tools ros-kinetic-trajectory-msgsros-kinetic-turtle-actionlib ros-kinetic-turtle-tf ros-kinetic-turtle-tf2 ros-kinetic-turtlesimros-kinetic-urdf ros-kinetic-urdf-parser-plugin ros-kinetic-urdf-tutorial ros-kinetic-vision-opencvros-kinetic-visualization-marker-tutorials ros-kinetic-visualization-msgs ros-kinetic-visualization-tutorialsros-kinetic-viz ros-kinetic-webkit-dependency ros-kinetic-xacro ros-kinetic-xmlrpcpp sbcl sdformat-sdfshiboken2 sip-dev tango-icon-theme tcl-dev tcl-vtk6 tcl8.6-dev tk-dev tk8.6-blt2.5 tk8.6-dev ttf-bitstream-verattf-liberation unixodbc unixodbc-dev uuid-dev vtk6 下列軟件包將被升級：cpp-5 g++-5 g++-5-multilib gcc-5 gcc-5-base gcc-5-base:i386 gcc-5-multilib lib32asan2 lib32atomic1lib32cilkrts5 lib32gcc-5-dev lib32gomp1 lib32itm1 lib32mpx0 lib32quadmath0 lib32stdc++-5-dev lib32stdc++6lib32ubsan0 libasan2 libatomic1 libcc1-0 libcilkrts5 libgcc-5-dev libgfortran3 libgomp1 libinput10 libitm1liblsan0 libmpx0 libqt5core5a libqt5dbus5 libqt5gui5 libqt5network5 libqt5opengl5 libqt5printsupport5libqt5sql5 libqt5test5 libqt5widgets5 libqt5xml5 libquadmath0 libstdc++-5-dev libstdc++6 libstdc++6:i386libtsan0 libubsan0 libuuid1 libwacom-bin libwacom-common libwacom2 libx32asan2 libx32atomic1 libx32cilkrts5libx32gcc-5-dev libx32gomp1 libx32itm1 libx32quadmath0 libx32stdc++-5-dev libx32stdc++6 libx32ubsan0 升級了 59 個軟件包，新安裝了 653 個軟件包，要卸載 1 個軟件包，有 394 個軟件包未被升級。 需要下載 445 MB 的歸檔。 解壓縮后會消耗 2,139 MB 的額外空間。 您希望繼續(xù)執(zhí)行嗎？ [Y/n] Y

這種方式的安裝，所需要安裝的包非常多。

桌面安裝：ROS，rqt,?rviz，機(jī)器人通用庫

sudo apt-get install ros-kinetic-desktop

ROS-Base (Bare Bones)：ROS 包，構(gòu)建和通信庫。沒有 GUI 工具。

sudo apt-get install ros-kinetic-ros-base

獨(dú)立的包安裝：可以安裝一個特定的 ROS 包（用實(shí)際的包名來替換下面的命令中的 “PACKAGE”）。

sudo apt-get install ros-kinetic-PACKAGE

如：

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

要找到可用的包，可以使用：

apt-cache search ros-kinetic

通常在做開發(fā)時，采用 桌面完整安裝 比較方便一點(diǎn)，可以一股腦將所有有可能用到的軟件包都安裝進(jìn)來。對于實(shí)際的機(jī)器，則通常采用 ROS-Base (Bare Bones) + 獨(dú)立的包 的方式進(jìn)行安裝。

初始化 rosdep

在使用 ROS 之前，需要先初始化 rosdep。rosdep 使得你可以為你想要編譯的源碼，以及需要運(yùn)行的 ROS 核心組件，簡單地安裝系統(tǒng)依賴。

sudo rosdep init rosdep update

環(huán)境設(shè)置

如果在每次一個新的終端啟動時，ROS 環(huán)境變量都能自動地添加進(jìn)你的 bash 會話是非常方便，這可以通過如下命令來實(shí)現(xiàn)：

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

如果安裝了多個 ROS 發(fā)行版，則 ~/.bashrc 必須只 source 當(dāng)前正在使用的那一版的 setup.bash。

如果你只想要修改當(dāng)前 shell 的環(huán)境，則輸入如下的命令來替換上面的命令：

source /opt/ros/kinetic/setup.bash

構(gòu)建包所需的依賴

到這一步，應(yīng)該已經(jīng)安裝好了運(yùn)行核心 ROS 包的所有東西。要創(chuàng)建和管理你自己的 ROS workspace，還有單獨(dú)發(fā)布的許多的工具。比如，rosinstall 是一個常用的命令行工具，使你可以通過一個命令為 ROS 包簡單地下載許多源碼樹。

要安裝這個工具及其它的依賴以構(gòu)建 ROS 包，則運(yùn)行：

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

完成完整的 ROS 安裝之后，可以對安裝做一個簡單的測試。可以通過 roscore 和 turtlesim 來做測試。

roscore 測試如下：

$ roscore ... logging to /home/hanpfei0306/.ros/log/3e61b674-03cf-11e8-ac54-9cb70ddc3658/roslaunch-hanpfei0306-31481.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://hanpfei0306:44979/ ros_comm version 1.12.12SUMMARY ========PARAMETERS* /rosdistro: kinetic* /rosversion: 1.12.12NODESauto-starting new master process[master]: started with pid [31495] ROS_MASTER_URI=http://hanpfei0306:11311/setting /run_id to 3e61b674-03cf-11e8-ac54-9cb70ddc3658 process[rosout-1]: started with pid [31508] started core service [/rosout]

turtlesim 測試如下：

注意 turtlesim 的運(yùn)行依賴于 roscore 的運(yùn)行，因此在測試 turtlesim 需要同時運(yùn)行 roscore。

參考文檔
ROS Distributions
Ubuntu install of ROS Kinetic

Done.

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