参考：https://blog.csdn.net/qq_15204179/article/details/118991205?utm_medium=distribute.pc_relevant.none-task-blog-2~default~baidujs_title~default-1.no_search_link&spm=1001.2101.3001.4242
ROS Kinectic安装
1. 添加ROS的镜像源:
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
2. 配置密钥
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
如果以上服务器在连接过程中存在问题，可以用以下两个备选地址:
hkp://pgp.mit.edu:80
hkp://keyserver.ubuntu.com:80
3. 更新Ubuntu的源
sudo apt-get update
4. 安装ROS kinetic
sudo apt-get install ros-kinetic-desktop-full
ROS初始化
1. 初始化rosdep
sudo rosdep init
rosdep update
2. 配置全局环境变量
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
3. 安装打包工具依赖
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential
安装错误处理
1. 源错误
E: Failed to fetch http://45.252.224.77/files/2116000007703A52/packages.ros.org/ros/ubuntu/dists/xenial/main/binary-amd64/Packages.gz
E: Failed to fetch http://45.252.224.79/files/111600000609586B/mirrors.ustc.edu.cn/ros/ubuntu/dists/xenial/main/binary-i386/Packages.gz Hash Sum mismatch
E: Some index files failed to download. They have been ignored, or old ones used instead.
通常在安装过程中会出现 Hash Sum mismatch，这个时候，建议修改Ubuntu操作系统的软件源为http://mirrors.ustc.edu.cn。保证ros的源和ubuntu的源一致，规避掉hash校验的错误。
2. rosdep错误
建议多尝试几次，直到成功。
如果不行，建议全局代理翻--=-=--=--墙
推荐一种离线安装方法：
https://blog.csdn.net/nanianwochengshui/article/details/105702188