1.1 把ROS加入到apt-get可得的source list中

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

1.2 將獲取檔案的公鑰記錄下來, 如此才能正常下載資源

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

1.3 完整安裝

sudo apt-get install libgl1-mesa-dev-lts-trusty
sudo apt-get install ros-indigo-desktop-full

1.4 Initialize rosdep

rosdep為ROS一些核心功能所必須且可以輕鬆的安裝system dependency

sudo rosdep init
rosdep update

1.5 環境設置

如此一些ros相關的命令就可在shell中使用

echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
source ~/.bashrc

如果使用zsh, 則改為

echo "source /opt/ros/indigo/setup.zsh" >> ~/.zshrc
source ~/.zshrc

安裝 rosinstall

sudo apt-get install python-rosinstall