ROS安裝
在安裝源部分需要區分版本，這里提供了16.04和18.04兩個安裝版本。值得注意的是，這里僅實驗了x86架構。
ubuntu 16.04
這是ubuntu16.04版本的ros安裝教程，不適用其他版本。
sudo vim /etc/apt/sources.list #修改鏡像文件
# 這里的內容是針對ubuntu16.04，其他版本不適用
#將這里的所有信息直接復制粘貼即可，先刪除原文件中的所有內容
# 默認注釋了源碼鏡像以提高 apt update 速度，如有需要可自行取消注釋
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
# 預發布軟件源，不建議啟用
# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
# 默認注釋了源碼倉庫，如有需要可自行取消注釋
deb https://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse
# deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
# deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
# deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
# deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
# 預發布軟件源，不建議啟用
# deb https://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
# deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
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'
sudo sh -c '. /etc/lsb-release && echo "deb https://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" >> /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt-get update && sudo apt upgrade
sudo apt-get install ros-kinetic-desktop-full
Ubuntu 18.04
# 這里的是18.04的鏡像需要根據不同版本進行選擇
# 默認注釋了源碼鏡像以提高 apt update 速度，如有需要可自行取消注釋
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
# 預發布軟件源，不建議啟用
# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse
sudo sh -c 'echo "deb https://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt update
sudo apt install ros-melodic-desktop-full
Initialize rosdep
在這一步的update命令上可能會由於網絡原因多次失敗，重復命令即可，直到成功。
sudo apt-get install python-rosdep
sudo rosdep init
rosdep update
Environment setup
更改過終端的要把下面的內容進行對應更改。不知道啥是終端更改的忽略這句話。
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
我更改了終端為zsh，因此命令修改如下
echo "source /opt/ros/kinetic/setup.zsh" >> ~/.zshrc
source ~/.zshrc
Dependencies for building packages
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential
啟動ROS
roscore
啟動成功即可。最后使用Ctrl+c 退出ROS系統。