（一）Ubuntu16.04换成清华大学源
（1）备份源文件
# 源文件sources.list 在/etc/apt/目录下# 备份源文件
sudo cp /etc/apt/sources.list /etc/apt/sources.list.bak
（2）替换源文件
如果一个源运行更新后一直出现忽略，那就不是好源换一个能够不断出现获取的源，才可以以下，第一个是清华源，第二个是阿里源这里我们将两个源都加入文件中，全一点还是比较好的
sudo gedit /etc/apt/sources.list
# deb cdrom:[Ubuntu 16.04 LTS _Xenial Xerus_ - Release amd64 (0420.1)]/ xenial main restricteddeb http://mirrors.tuna./ubuntu/ xenial main restricteddeb http://mirrors.tuna./ubuntu/ xenial-updates main restricteddeb http://mirrors.tuna./ubuntu/ xenial universedeb http://mirrors.tuna./ubuntu/ xenial-updates universedeb http://mirrors.tuna./ubuntu/ xenial multiversedeb http://mirrors.tuna./ubuntu/ xenial-updates multiversedeb http://mirrors.tuna./ubuntu/ xenial-backports main restricted universe multiversedeb http://mirrors.tuna./ubuntu/ xenial-security main restricteddeb http://mirrors.tuna./ubuntu/ xenial-security universedeb http://mirrors.tuna./ubuntu/ xenial-security multiverse
# deb cdrom:[Ubuntu 16.04 LTS _Xenial Xerus_ - Release amd64 (0420.1)]/ xenial main restricteddeb-src /ubuntu xenial main restricted #Added by software-propertiesdeb /ubuntu/ xenial main restricteddeb-src /ubuntu/ xenial main restricted multiverse universe #Added by software-propertiesdeb /ubuntu/ xenial-updates main restricteddeb-src /ubuntu/ xenial-updates main restricted multiverse universe #Added by software-propertiesdeb /ubuntu/ xenial universedeb /ubuntu/ xenial-updates universedeb /ubuntu/ xenial multiversedeb /ubuntu/ xenial-updates multiversedeb /ubuntu/ xenial-backports main restricted universe multiversedeb-src /ubuntu/ xenial-backports main restricted universe multiverse #Added by software-propertiesdeb /ubuntu xenial partnerdeb-src /ubuntu xenial partnerdeb /ubuntu/ xenial-security main restricteddeb-src /ubuntu/ xenial-security main restricted multiverse universe #Added by software-propertiesdeb /ubuntu/ xenial-security universedeb /ubuntu/ xenial-security multiverse
（3）更新源
sudo apt-get update 更新源 sudo apt-get upgrade 更新软件（选择性更新，有可能出现版本不兼容情况）
（二）设置sources.list
sudo sh -c 'echo "deb /ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
（三）设置公钥（Key）
sudo apt-key adv --keyserver 'hkp://:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
导入结果如下：
C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654gpg: 下载密钥‘AB17C654’，从 hkp 服务器 gpg: 密钥 AB17C654：公钥“Open Robotics <info@>”已导入gpg: 合计被处理的数量：1gpg:已导入：1 (RSA: 1)
（四）更新package
sudo apt-get update
（五）安装ROS kinetic完整版
sudo apt-get install ros-kinetic-desktop-full
（六）初始化rosdep
sudo rosdep init
rosdep update
（七）配置ROS环境
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
（八）安装依赖项
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
（九）测试是否成功
（1）初始化ROS环境：
roscore
（2）再打开一个新的终端（Termial），输入以下命令，弹出一个小乌龟窗口：
rosrun turtlesim turtlesim_node
（3）再打开一个新的终端（Termial），输入以下命令，使用键盘控制海龟运动：
rosrun turtlesim turtle_teleop_key
若键盘能正常控制海龟，代表安装成功。
（4）打开新的Termial，输入以下命令，可以查看ROS节点信息：
rosrun rqt_graph rqt_graph
如果你能顺利进行到这一步，说明ROS安装成功了。
（十）安装遇见的的错误
第（六）步sudo rosdep init 错误
（1）打开控制文件
sudo gedit /etc/hosts
（2）通过首页,输入查询到最新的真实IP地址：
151.101.84.133
将上述地址写入文件最后一行，保存并退出。
（3）如果提示已经存在，则将存在的文件删除并重复以上操作：
sudo rm /etc/ros/rosdep/sources.list.d/20-default.list
（4）最后结果是可观的，初始化成功代码如下：
wmj@wmj-Inspiron-5580:~$ sudo rosdep initWrote /etc/ros/rosdep/sources.list.d/20-default.listRecommended: please runrosdep updatewmj@wmj-Inspiron-5580:~$ rosdep updatereading in sources list data from /etc/ros/rosdep/sources.list.dERROR: unable to process source [/ros/rosdistro/master/rosdep/osx-homebrew.yaml]:<urlopen error ('_ssl.c:574: The handshake operation timed out',)> (/ros/rosdistro/master/rosdep/osx-homebrew.yaml)ERROR: unable to process source [/ros/rosdistro/master/rosdep/base.yaml]:<urlopen error ('_ssl.c:574: The handshake operation timed out',)> (/ros/rosdistro/master/rosdep/base.yaml)ERROR: unable to process source [/ros/rosdistro/master/rosdep/python.yaml]:<urlopen error ('_ssl.c:574: The handshake operation timed out',)> (/ros/rosdistro/master/rosdep/python.yaml)ERROR: unable to process source [/ros/rosdistro/master/rosdep/ruby.yaml]:<urlopen error timed out> (/ros/rosdistro/master/rosdep/ruby.yaml)ERROR: unable to process source [/ros/rosdistro/master/releases/fuerte.yaml]:Failed to download target platform data for gbpdistro:<urlopen error timed out>Query rosdistro index /ros/rosdistro/master/index-v4.yamlERROR: error loading sources list:<urlopen error <urlopen error timed out> (/ros/rosdistro/master/index-v4.yaml)>wmj@wmj-Inspiron-5580:~$
