首先编辑安装源
$ sudo vim /etc/apt/sources.list
找到如下内容
# See http://help.ubuntu.com/community/UpgradeNotes for how to upgrade to # newer versions of the distribution. deb http://ports.ubuntu.com/ubuntu-ports/ xenial main restricted deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial main restricted ## Major bug fix updates produced after the final release of the ## distribution. deb http://ports.ubuntu.com/ubuntu-ports/ xenial-updates main restricted deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-updates main restricted ## Uncomment the following two lines to add software from the 'universe' ## repository. ## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu ## team. Also, please note that software in universe WILL NOT receive any ## review or updates from the Ubuntu security team. # deb http://ports.ubuntu.com/ubuntu-ports/ xenial universe # deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial universe # deb http://ports.ubuntu.com/ubuntu-ports/ xenial-updates universe # deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-updates universe ## N.B. software from this repository may not have been tested as ## extensively as that contained in the main release, although it includes ## newer versions of some applications which may provide useful features. ## Also, please note that software in backports WILL NOT receive any review ## or updates from the Ubuntu security team. # deb http://ports.ubuntu.com/ubuntu-ports/ xenial-backports main restricted # deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-backports main restricted deb http://ports.ubuntu.com/ubuntu-ports/ xenial-security main restricted deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-security main restricted # deb http://ports.ubuntu.com/ubuntu-ports/ xenial-security universe # deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-security universe # deb http://ports.ubuntu.com/ubuntu-ports/ xenial-security multiverse # deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-security multiverse
开启universe源，修改为：
# See http://help.ubuntu.com/community/UpgradeNotes for how to upgrade to # newer versions of the distribution. deb http://ports.ubuntu.com/ubuntu-ports/ xenial main restricted deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial main restricted ## Major bug fix updates produced after the final release of the ## distribution. deb http://ports.ubuntu.com/ubuntu-ports/ xenial-updates main restricted deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-updates main restricted ## Uncomment the following two lines to add software from the 'universe' ## repository. ## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu ## team. Also, please note that software in universe WILL NOT receive any ## review or updates from the Ubuntu security team. deb http://ports.ubuntu.com/ubuntu-ports/ xenial universe deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial universe deb http://ports.ubuntu.com/ubuntu-ports/ xenial-updates universe deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-updates universe ## N.B. software from this repository may not have been tested as ## extensively as that contained in the main release, although it includes ## newer versions of some applications which may provide useful features. ## Also, please note that software in backports WILL NOT receive any review ## or updates from the Ubuntu security team. # deb http://ports.ubuntu.com/ubuntu-ports/ xenial-backports main restricted # deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-backports main restricted deb http://ports.ubuntu.com/ubuntu-ports/ xenial-security main restricted deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-security main restricted # deb http://ports.ubuntu.com/ubuntu-ports/ xenial-security universe # deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-security universe # deb http://ports.ubuntu.com/ubuntu-ports/ xenial-security multiverse # deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-security multiverse
然后更新源
$ sudo apt-get update
然后执行如下安装脚本：
#!/bin/bash sudo apt-get update sudo apt-get upgrade -y --force-yes sudo apt-get autoremove -y # 必须先安装boost ,否则，整个安装过程会失败，应该是apt的BUG sudo apt-get -y install libboost-all-dev UBUNTU_VERSION=`lsb_release -c -s` ROS_DISTRO=hydro if [ $UBUNTU_VERSION = trusty ] || [ $UBUNTU_VERSION = saucy ] ; then ROS_DISTRO=indigo elif [ $UBUNTU_VERSION = xenial ] ; then ROS_DISTRO=kinetic fi ROS_PACKAGES="python-rosinstall ros-$ROS_DISTRO-robot-state-publisher ros-$ROS_DISTRO-cmake-modules ros-$ROS_DISTRO-freenect-stack ros-$ROS_DISTRO-openni-launch ros-$ROS_DISTRO-camera-info-manager-py" echo "deb http://packages.ros.org/ros/ubuntu $UBUNTU_VERSION main" | sudo tee /etc/apt/sources.list.d/ros-latest.list wget http://packages.ros.org/ros.key -O - | sudo apt-key add - sudo apt-get update sudo apt-get install ros-$ROS_DISTRO-desktop-full -y sudo rosdep init rosdep update sudo apt-get install $ROS_PACKAGES -y --force-yes