参考：http://wiki.ros.org/kinetic/Installation/Ubuntu
1.添加ROS软件源
~$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
2.添加密钥
~$ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
3.安装ROS
~$ sudo apt-get update ~$ sudo apt-get install ros-kinetic-desktop-full
4.初始化rosdep
sudo rosdep init
rosdep update
5.设置环境变量
bash终端
~$ echo "source/opt/ros/kinetic/setup.bash">>~/.bashrc ~$ source ~/.bashrc
zsh终端
echo "source /opt/ros/kinetic/setup.zsh" >> ~/.zshrc
source ~/.zshrc
6.安装rosinstall
~$ sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential