安裝ubuntu16.04 MATE系統
1.安裝Ubuntu16.04鏡像
從官網下載並按照樹莓派刷寫系統的流程將ubuntu16.04 MATE燒寫到樹莓派的SD卡上
2.設置WiFi
將樹莓派外接顯示器，在圖形化操作界面中設置連接無線；
3.更新源
備份原配置文件
sudo cp /etc/apt/sources.list /etc/apt/sources.list.bak
添加清華大學的軟件源，將以下內容復制到sources.list中，替換原有內容
用任意編輯器打開sources.list，此處以nano為例：
sudo nano /etc/apt/sources.list
將以下內容復制進去並保存退出
1 deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenail-updates main restricted universe multiverse 2 deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenail-updates main restricted universe multiverse 3 deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenail-security main restricted universe multiverse 4 deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenail-security main restricted universe multiverse 5 deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenail-backports main restricted universe multiverse 6 deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenail-backports main restricted universe multiverse 7 deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenail main restricted universe multiverse 8 deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenail main restricted universe multiverse
更新系統軟件源
sudo apt-get update
安裝ROS
1.添加Ubuntu16.04軟件源，這里使用中科大的軟件源
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'
2.設置密鑰
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
3.更新軟件源
sudo apt-get update
4.安裝ROS
樹莓派性能有限，不推薦在樹莓派系統上運行ROS的GUI工具，所以安裝ROS的基本功能包即可：
sudo apt-get install ros-kinetic-ros-base
5.安裝rosdep工具
1 sudo rosdep init 2 rosdep update
6.設置環境變量
1 echo "source /opt/ros/kinetic/setup.bash">> ~/.bashrc 2 source ~/.bashrc
7.安裝其他功能包
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
至此就完成了全部安裝過程，如果安裝順利，在樹莓派終端輸入
roscore
即可啟動ros