大半年沒寫博客了。最近有幸參與機器人導航研究，在學習ROS相關知識。在安裝ROS時使用國外的官方源安裝非常慢。這里把使用國內鏡像的安裝方式做一個記錄。
筆者用的是Kinetic版本，操作系統是Ubuntu 16.04 LTS。
第一步要做的就是替換系統默認的源為aliyun鏡像源：
編輯/etc/apt/sources.list文件，將里面的內容替換為（替換之前建議先備份原始文件）：
# deb cdrom:[Ubuntu 16.04 LTS _Xenial Xerus_ - Release amd64 (20160420.1)]/ xenial main restricted deb-src http://archive.ubuntu.com/ubuntu xenial main restricted #Added by software-properties deb http://mirrors.aliyun.com/ubuntu/ xenial main restricted deb-src http://mirrors.aliyun.com/ubuntu/ xenial main restricted multiverse universe #Added by software-properties deb http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted deb-src http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted multiverse universe #Added by software-properties deb http://mirrors.aliyun.com/ubuntu/ xenial universe deb http://mirrors.aliyun.com/ubuntu/ xenial-updates universe deb http://mirrors.aliyun.com/ubuntu/ xenial multiverse deb http://mirrors.aliyun.com/ubuntu/ xenial-updates multiverse deb http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse deb-src http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse #Added by software-properties deb http://archive.canonical.com/ubuntu xenial partner deb-src http://archive.canonical.com/ubuntu xenial partner deb http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted deb-src http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted multiverse universe #Added by software-properties deb http://mirrors.aliyun.com/ubuntu/ xenial-security universe deb http://mirrors.aliyun.com/ubuntu/ xenial-security multiverse
第二步設置ROS的sources.list為國內鏡像：
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ main" > /etc/apt/sources.list.d/ros-latest.list'
上面是USTC的鏡像，也可以設置為Tsinghua University鏡像：
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ main" > /etc/apt/sources.list.d/ros-latest.list'
到此國內鏡像設置完畢，接着按照官方步驟安裝ROS就可以了。
添加 keys
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
更新軟件包索引
sudo apt-get update
安裝桌面完整版ROS
sudo apt-get install ros-kinetic-desktop-full
檢測ROS是否安裝成功
apt-cache search ros-kinetic
初始化rosdep
sudo rosdep init rosdep update
配置環境變量
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc source ~/.bashrc
安裝其他依賴工具包
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
接來下來就可以愉快的進行ROS編程了。編寫node，對topic進行publisher、subscribe。
本文只是在官方教程上略作豐富及記錄實際操作中的問題解決方法。如需要看官方原始教程請點這里。