1.首先安裝一些依賴包
sudo apt-get install ros-kinetic-turtlebot-bringup \ ros-kinetic-turtlebot-create ros-kinetic-openni-* \ ros-kinetic-openni2-* ros-kinetic-freenect-* ros-kinetic-usb-cam \ ros-kinetic-laser-* ros-kinetic-hokuyo-node \ ros-kinetic-audio-common gstreamer0.10-pocketsphinx \ ros-kinetic-pocketsphinx ros-kinetic-slam-gmapping \ ros-kinetic-joystick-drivers python-rosinstall \ ros-kinetic-orocos-kdl ros-kinetic-python-orocos-kdl \ python-setuptools ros-kinetic-dynamixel-motor \ libopencv-dev python-opencv ros-kinetic-vision-opencv \ ros-kinetic-depthimage-to-laserscan ros-kinetic-arbotix-* \ ros-kinetic-turtlebot-teleop ros-kinetic-move-base \ ros-kinetic-map-server ros-kinetic-fake-localization \ ros-kinetic-amcl git subversion mercurial
其中，ros-kinetic-hokuyo-node（北陽激光雷達）、gstreamer0.10-pocketsphinx和ros-kinetic-pocketsphinx（語音識別庫）
和ros-kinetic-arbotix-*（模擬器）在ros kinetic版本中沒有，如果用到需要源碼編譯
2.下載rbx1和arbotix源碼並編譯
mkdir -p ~/dev/catkin_ws/src cd ~/dev/catkin_ws/src catkin_init_workspace git clone https://github.com/pirobot/rbx1.git git clone https://github.com/vanadiumlabs/arbotix_ros.git
cd ..
catkin_make
source devel/setup.bash
其他包沒用到就沒有用到就沒有編譯