ROS Indigo已经支持Ubuntu14.04（Trusty）版，这是有预编译的版本。如果从源码安装，你可以尝试一下最新的Ubuntu 15.04，甚至于中国版的UbuntuKylin15.04。当然，可能有的地方是需要去修改源码的，如果搞定了，记得跟大家分享一下你的成就哦。
Ubuntu install of ROS Indigo
We are building Debian packages for several Ubuntu platforms, listed below. These packages are more efficient than source-based builds and are our preferred installation method for Ubuntu.
If you need to install from source (not recommended), please see source (download-and-compile) installation instructions：http://wiki.ros.org/indigo/Installation/Source
If you rely on these packages, please support OSRF.
These packages are built and hosted on infrastructure maintained and paid for by the Open Source Robotics Foundation, a 501(c)(3) non-profit organization. If OSRF were to receive one penny for each downloaded package for just two months, we could cover our annual costs to manage, update, and host all of our online services. Please consider donating to OSRF today.
Installation
Configure your Ubuntu repositories
Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse." You can follow the Ubuntu guide for instructions on doing this.
Setup your sources.list
Setup your computer to accept software from packages.ros.org. ROS Indigo ONLY supports Saucy (13.10) and Trusty (14.04) for debian packages.
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
Mirrors
Set up your keys
wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -
Installation
First, make sure your Debian package index is up-to-date:
sudo apt-get update
For more information on this issue see this answers.ros.org thread or this launchpad issue
/!\ Do not install these packages if you are using 14.04, it will destroy your X server:
sudo apt-get install xserver-xorg-dev-lts-utopic mesa-common-dev-lts-utopic libxatracker-dev-lts-utopic libopenvg1-mesa-dev-lts-utopic libgles2-mesa-dev-lts-utopic libgles1-mesa-dev-lts-utopic libgl1-mesa-dev-lts-utopic libgbm-dev-lts-utopic libegl1-mesa-dev-lts-utopic
/!\ Do not install the above packages if you are using 14.04, it will destroy your X server
sudo apt-get install libgl1-mesa-dev-lts-utopic
If you are using Ubuntu Trusty 14.04.2 and experience dependency issues during the ROS installation, you may have to install some additional system dependencies.
Alternatively, try installing just this to fix dependency issues:
There are many different libraries and tools in ROS. We provided four default configurations to get you started. You can also install ROS packages individually.
Desktop-Full Install: (Recommended) : ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception
Indigo uses Gazebo 2 which is the default version of Gazebo on Trusty and is recommended. If you need to upgrade to Gazebo 3 see these instructions about how to upgrade the simulator.
Desktop Install: ROS, rqt, rviz, and robot-generic libraries
ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools.
Individual Package: You can also install a specific ROS package (replace underscores with dashes of the package name):
sudo apt-get install ros-indigo-PACKAGE
e.g.
sudo apt-get install ros-indigo-slam-gmapping
sudo apt-get install ros-indigo-ros-base
or click here
sudo apt-get install ros-indigo-desktop
or click here
sudo apt-get install ros-indigo-desktop-full
or click here
To find available packages, use:
apt-cache search ros-indigo
Initialize rosdep
Before you can use ROS, you will need to initialize rosdep. rosdep enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS.
sudo rosdep init rosdep update
Environment setup
It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched:
echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc source ~/.bashrc
If you have more than one ROS distribution installed, ~/.bashrc must only source the setup.bash for the version you are currently using.
If you just want to change the environment of your current shell, you can type:
source /opt/ros/indigo/setup.bash
Getting rosinstall
rosinstall is a frequently used command-line tool in ROS that is distributed separately. It enables you to easily download many source trees for ROS packages with one command.
To install this tool on Ubuntu, run:
sudo apt-get install python-rosinstall
Build farm status
The packages that you installed were built by ROS build farm. You can check the status of individual packages here.
Tutorials
Now, to test your installation, please proceed to the ROS Tutorials.
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