1.設置sources.list

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

best:

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

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2.設置key（公鑰已更新）

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

3.更新package

sudo apt-get update

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Err:7 http://packages.ros.org/ros/ubuntu xenial/main i386 Packages???????????????

Connection failed

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sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

4.安裝ROS kinetic完整版

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

5.初始化rosdep

在使用ROS之前需要初始化rosdep

sudo rosdep init

rosdep update

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ERROR: cannot download default sources list from: https://raw.githubusercont

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1）ca-certificates問題，證書不對，重新安裝證書

sudo apt-get install ca-certificates

2）系統時間同步問題，需要同步系統時間

參照鏈接https://blog.csdn.net/A18373279153/article/details/81003937進行系統時間同步

sudo apt-get install ntpdate sudo ntpdate cn.pool.ntp.org sudo hwclock --systohc

3) 還是ssl certs問題，繼續嘗試解決

sudo c_rehash /etc/ssl/certs sudo -E rosdep init

4）python-rosdep問題

sudo apt-get install python-rosdep

但以上方法全部無效，無奈之下直接在/etc目錄下新建/ros/rosdep/sources.list.d/20-default.list文件（注意sudo rosdep init失敗時，/etc下并沒有/ros目錄，需要依次逐級新建），然后將https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list內容粘貼進去，如下：

# 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

https://zhuanlan.zhihu.com/p/77483614

6.配置ROS環境

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

7.安裝依賴項

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

8.測試ROS是否安裝成功

(1)CTRL+ALT+T打開終端（Termial），輸入以下命令，初始化ROS環境:

roscore

(2)再 打開一個新的終端（Termial），輸入以下命令，彈出一個小烏龜窗口：

rosrun turtlesim turtlesim_node

(3)出現一個小烏龜的LOGO后，再 打開一個新的終端（Termial），輸入以下命令:

rosrun turtlesim turtle_teleop_key

(4)打開新的Termial，輸入以下命令，可以查看ROS節點信息

rosrun rqt_graph rqt_graph

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參考：

https://blog.csdn.net/weixin_43159148/article/details/83375218

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總結

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