Ubuntu 16.04 + ROS Kinetic 机器人操作系统学习镜像分享与使用安装说明

Ubuntu 16.04 + ROS Kinetic 镜像分享与使用安装说明

内容概要：1 网盘文件介绍  2 镜像制作  3 系统使用与安装

---- 祝ROS爱好者和开发者新年快乐：-） ----

镜像iso约1.7GB，更多功能在网盘中查找即可。

1 网盘文件介绍

网址：http://pan.baidu.com/s/1kVe8u6F

打开后，目前有5个文件夹，分别为pic、iso、code、build、book。

pic图片目录，iso镜像目录，code学习ROS一些代码压缩包，build制作镜像文件，book书籍分享。

在iso文件夹可以看到镜像文件ExbotBook_xxx.iso，由于之前发布镜像太大，目前这个镜像就是纯净版，只有Ubuntu 16.04，ROS Kinetic，Gazebo 7.5，MoveIt!以及学习的代码示例，稍后会在试用时做详细介绍。之后，会依据需求更新并增加镜像，定制版镜像制作也会在后续博客中介绍。下载完成后，在build文件夹下载Universal-USB-Installer用于制作启动盘。

2 镜像制作

特别说明，试用时需要在BIOS设置Secure Boot为Disabled，安装完成后再开启Enable。

本镜像制作支持UEFI+Legacy启动，所以使用UEFI/Legacy Boot皆可。

制作过程如下：

 

需要勾选Showing *ISOs，点击Create：

 

等待制作完成，约4-8分钟，休息一下:-)

好，镜像制作完成，重启电脑即可使用。下面内容均在U盘系统中完成。

3 系统试用与安装

选择试用exbotbook即可试用此系统。桌面如下：

系统用户名：rosfun  密码：exbot

已经编译好可以使用的功能包如下：

当然，也可以在终端再编译一下看看，当然这是U盘灯会快闪：-)

rosfun@rosfun:~$ cd dev/catkin_ws/rosfun@rosfun:~/dev/catkin_ws$ catkin_makeBase path: /home/rosfun/dev/catkin_wsSource space: /home/rosfun/dev/catkin_ws/srcBuild space: /home/rosfun/dev/catkin_ws/buildDevel space: /home/rosfun/dev/catkin_ws/develInstall space: /home/rosfun/dev/catkin_ws/install######## Running command: "make cmake_check_build_system" in "/home/rosfun/dev/catkin_ws/build"############ Running command: "make -j4 -l4" in "/home/rosfun/dev/catkin_ws/build"####[  1%] Built target laser[  1%] Built target base_controller[  1%] Built target odometry[  2%] Built target tf_listener[  2%] Built target std_msgs_generate_messages_cpp[  3%] Built target tf_broadcast[  3%] Built target std_msgs_generate_messages_nodejs[  3%] Built target std_msgs_generate_messages_lisp[  3%] Built target std_msgs_generate_messages_py[  3%] Built target std_msgs_generate_messages_eus[  3%] Built target actionlib_msgs_generate_messages_eus[  3%] Built target _kamtoa_smarthome_controller_generate_messages_check_deps_smarthome_action[  3%] Built target _kamtoa_smarthome_controller_generate_messages_check_deps_smarthome_response[  3%] Built target _my_sph_actions_generate_messages_check_deps_sphero_action_msgActionGoal[  3%] Built target _my_sph_actions_generate_messages_check_deps_sphero_action_msgFeedback[  3%] Built target nav_msgs_generate_messages_eus[  3%] Built target _my_sph_actions_generate_messages_check_deps_sphero_action_msgActionResult[  3%] Built target _my_sph_actions_generate_messages_check_deps_sphero_action_msgResult[  3%] Built target _my_sph_actions_generate_messages_check_deps_sphero_action_msgGoal[  3%] Built target _my_sph_actions_generate_messages_check_deps_sphero_action_msgActionFeedback[  3%] Built target actionlib_msgs_generate_messages_nodejs[  3%] Built target nav_msgs_generate_messages_nodejs[  3%] Built target actionlib_msgs_generate_messages_py[  3%] Built target nav_msgs_generate_messages_py[  3%] Built target actionlib_msgs_generate_messages_cpp[  3%] Built target _my_sph_actions_generate_messages_check_deps_sphero_action_msgAction[  3%] Built target nav_msgs_generate_messages_cpp[  3%] Built target actionlib_msgs_generate_messages_lisp[  3%] Built target nav_msgs_generate_messages_lisp[  4%] Generating dynamic reconfigure files from cfg/chapter2.cfg: /home/rosfun/dev/catkin_ws/devel/include/chapter2_tutorials/chapter2Config.h /home/rosfun/dev/catkin_ws/devel/lib/python2.7/dist-packages/chapter2_tutorials/cfg/chapter2Config.py[  4%] Built target _sphero_node_generate_messages_check_deps_SpheroCollision[  4%] Built target _chapter2_tutorials_generate_messages_check_deps_chapter2_srv1[  4%] Built target _chapter2_tutorials_generate_messages_check_deps_chapter2_msg1[  4%] Built target _driver_base_generate_messages_check_deps_ConfigValue[  4%] Built target _driver_base_generate_messages_check_deps_ConfigString[  4%] Built target _driver_base_generate_messages_check_deps_SensorLevels[  6%] Built target chapter5_tutorials_gencfg[  6%] Built target kamtoa_joystick[  7%] Built target velocity_profilerGenerating reconfiguration files for chapter2_ in chapter2_tutorialsWrote header file in /home/rosfun/dev/catkin_ws/devel/include/chapter2_tutorials/chapter2_Config.h[  9%] Built target camera_timer[  9%] Built target camera[ 10%] Built target camera_polling[ 10%] Built target chapter2_tutorials_gencfg[ 11%] Built target sendGoals[ 11%] Built target _chapter3_tutorials_generate_messages_check_deps_SetSpeed[ 12%] Built target example7[ 13%] Built target example3[ 13%] Built target example1[ 14%] Built target example2[ 14%] Built target chapter3_tutorials_generate_messages_py[ 15%] Built target example10[ 15%] Built target chapter3_tutorials_generate_messages_lisp[ 15%] Built target example8[ 16%] Built target chapter3_tutorials_generate_messages_nodejs[ 17%] Built target chapter3_tutorials_generate_messages_eus[ 18%] Built target chapter3_tutorials_gencfg[ 19%] Built target example9[ 19%] Built target c4_example7[ 20%] Built target c4_example6[ 21%] Built target c4_example8[ 22%] Built target c4_example5_2[ 22%] Built target c4_example3[ 23%] Built target c4_example2[ 24%] Built target c4_example4[ 25%] Built target c4_example1[ 26%] Built target pcl_downsampling[ 27%] Built target pcl_filter[ 28%] Built target pcl_partitioning[ 30%] Built target pcl_create[ 30%] Built target pcl_model_estimation[ 30%] Built target pcl_read[ 31%] Built target pcl_visualize[ 32%] Built target pcl_planar_segmentation[ 32%] Built target pcl_matching[ 33%] Built target pcl_write[ 34%] Built target gazebo_contact_sensor_plugin[ 34%] Built target rosbook_arm_hardware_gazebo[ 34%] Built target octomap_msgs_generate_messages_lisp[ 34%] Built target tf2_msgs_generate_messages_nodejs[ 34%] Built target tf_generate_messages_cpp[ 36%] Built target moveit_simple_grasps[ 36%] Built target moveit_simple_grasps_filter[ 36%] Built target actionlib_generate_messages_eus[ 36%] Built target tf_generate_messages_py[ 36%] Built target roscpp_generate_messages_lisp[ 36%] Built target tf_generate_messages_eus[ 36%] Built target geometry_msgs_generate_messages_lisp[ 36%] Built target roscpp_generate_messages_nodejs[ 36%] Built target tf_generate_messages_lisp[ 36%] Built target rosgraph_msgs_generate_messages_lisp[ 36%] Built target rosgraph_msgs_generate_messages_py[ 36%] Built target roscpp_generate_messages_eus[ 36%] Built target roscpp_generate_messages_py[ 36%] Built target geometry_msgs_generate_messages_cpp[ 36%] Built target sensor_msgs_generate_messages_nodejs[ 36%] Built target tf_generate_messages_nodejs[ 36%] Built target rosgraph_msgs_generate_messages_cpp[ 36%] Built target tf2_msgs_generate_messages_cpp[ 36%] Built target roscpp_generate_messages_cpp[ 36%] Built target geometry_msgs_generate_messages_eus[ 36%] Built target rosgraph_msgs_generate_messages_nodejs[ 36%] Built target rosgraph_msgs_generate_messages_eus[ 36%] Built target geometry_msgs_generate_messages_nodejs[ 36%] Built target geometry_msgs_generate_messages_py[ 36%] Built target sensor_msgs_generate_messages_cpp[ 36%] Built target sensor_msgs_generate_messages_lisp[ 36%] Built target tf2_msgs_generate_messages_lisp[ 36%] Built target actionlib_generate_messages_cpp[ 36%] Built target sensor_msgs_generate_messages_py[ 36%] Built target actionlib_generate_messages_nodejs[ 36%] Built target sensor_msgs_generate_messages_eus[ 36%] Built target actionlib_generate_messages_py[ 36%] Built target tf2_msgs_generate_messages_py[ 36%] Built target tf2_msgs_generate_messages_eus[ 36%] Built target actionlib_generate_messages_lisp[ 36%] Built target visualization_msgs_generate_messages_cpp[ 36%] Built target visualization_msgs_generate_messages_py[ 36%] Built target visualization_msgs_generate_messages_eus[ 36%] Built target visualization_msgs_generate_messages_lisp[ 36%] Built target visualization_msgs_generate_messages_nodejs[ 36%] Built target trajectory_msgs_generate_messages_nodejs[ 36%] Built target trajectory_msgs_generate_messages_eus[ 36%] Built target trajectory_msgs_generate_messages_cpp[ 36%] Built target trajectory_msgs_generate_messages_lisp[ 36%] Built target trajectory_msgs_generate_messages_py[ 36%] Built target moveit_ros_manipulation_gencfg[ 36%] Built target moveit_msgs_generate_messages_lisp[ 36%] Built target octomap_msgs_generate_messages_py[ 36%] Built target moveit_msgs_generate_messages_py[ 36%] Built target object_recognition_msgs_generate_messages_nodejs[ 36%] Built target shape_msgs_generate_messages_lisp[ 36%] Built target object_recognition_msgs_generate_messages_lisp[ 36%] Built target octomap_msgs_generate_messages_nodejs[ 36%] Built target shape_msgs_generate_messages_eus[ 36%] Built target object_recognition_msgs_generate_messages_py[ 36%] Built target shape_msgs_generate_messages_cpp[ 36%] Built target graph_msgs_generate_messages_py[ 36%] Built target moveit_ros_planning_gencfg[ 36%] Built target octomap_msgs_generate_messages_eus[ 36%] Built target object_recognition_msgs_generate_messages_cpp[ 36%] Built target moveit_msgs_generate_messages_cpp[ 36%] Built target graph_msgs_generate_messages_cpp[ 36%] Built target object_recognition_msgs_generate_messages_eus[ 36%] Built target shape_msgs_generate_messages_py[ 36%] Built target moveit_msgs_generate_messages_eus[ 36%] Built target moveit_msgs_generate_messages_nodejs[ 36%] Built target shape_msgs_generate_messages_nodejs[ 36%] Built target graph_msgs_generate_messages_lisp[ 36%] Built target graph_msgs_generate_messages_nodejs[ 36%] Built target octomap_msgs_generate_messages_cpp[ 36%] Built target graph_msgs_generate_messages_eus[ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsActionGoal[ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsGoal[ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsActionFeedback[ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsFeedback[ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsActionResult[ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsResult[ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsAction[ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GraspGeneratorOptions[ 36%] Built target move_group_remove_object[ 37%] Built target move_group_plan_group_state[ 38%] Built target move_group_plan_single_target[ 39%] Built target move_group_plan_random_target[ 39%] Built target robot1_description_xacro_generated_to_devel_space_[ 39%] Built target kamtoa_description_xacro_generated_to_devel_space_[ 39%] Built target sphero_gazebo_xacro_generated_to_devel_space_[ 40%] Built target move_group_add_object[ 40%] Built target state_publisher_tutorials[ 40%] Built target kamtoa_smarthome_controller_generate_messages_cpp[ 41%] Built target kamtoa_smarthome_controller_generate_messages_nodejs[ 42%] Built target kamtoa_smarthome_controller_generate_messages_py[ 42%] Built target gazebo_sphero_controller[ 43%] Built target kamtoa_smarthome_controller_generate_messages_lisp[ 44%] Built target kamtoa_smarthome_controller_generate_messages_eus[ 47%] Built target my_sph_actions_generate_messages_eus[ 51%] Built target my_sph_actions_generate_messages_nodejs[ 54%] Built target my_sph_actions_generate_messages_py[ 57%] Built target my_sph_actions_generate_messages_cpp[ 59%] Built target my_sph_actions_generate_messages_lisp[ 59%] Built target sphero_node_generate_messages_eus[ 60%] Built target sphero_node_generate_messages_py[ 61%] Built target sphero_node_generate_messages_cpp[ 62%] Built target sphero_node_generate_messages_lispScanning dependencies of target chap2_example4[ 62%] Built target sphero_node_generate_messages_nodejs[ 62%] Built target chapter2_tutorials_generate_messages_cpp[ 63%] Built target chapter2_tutorials_generate_messages_eus[ 64%] Built target chapter2_tutorials_generate_messages_py[ 64%] Building CXX object Learning_ROS_for_Robotics_Programming/chapter2_tutorials/CMakeFiles/chap2_example4.dir/src/example4.cpp.o[ 65%] Built target chapter2_tutorials_generate_messages_lisp[ 66%] Built target chapter2_tutorials_generate_messages_nodejs[ 67%] Built target chap2_example1_b[ 69%] Built target chap2_example1_a[ 69%] Built target chap2_example3_b[ 70%] Built target driver_base_generate_messages_eus[ 73%] Built target driver_base_generate_messages_nodejs[ 73%] Built target driver_base_generate_messages_py[ 74%] Built target driver_base_generate_messages_lisp[ 76%] Built target driver_base_generate_messages_cpp[ 76%] Built target chapter3_tutorials_generate_messages_cpp[ 77%] Built target camera_stereo[ 77%] Built target example6[ 78%] Built target moveit_simple_grasps_test[ 81%] Built target moveit_simple_grasps_generate_messages_nodejs[ 84%] Built target moveit_simple_grasps_generate_messages_lisp[ 84%] Built target moveit_simple_grasps_server[ 85%] Built target moveit_simple_grasps_filter_test[ 89%] Built target moveit_simple_grasps_generate_messages_py[ 92%] Built target moveit_simple_grasps_generate_messages_cpp[ 95%] Built target moveit_simple_grasps_generate_messages_eus[ 95%] Built target my_sph_actions_generate_messages[ 95%] Built target kamtoa_smarthome_controller_generate_messages[ 95%] Built target sphero_node_generate_messages[ 96%] Built target chap2_example3_a[ 97%] Built target chap2_example2_b[ 98%] Built target gazebo_light_controller[ 98%] Built target driver_base_generate_messages[ 98%] Built target chap2_example2_a[ 98%] Built target chapter2_tutorials_generate_messages[ 98%] Built target chapter3_tutorials_generate_messages[ 98%] Built target moveit_simple_grasps_generate_messages[ 98%] Built target example4[100%] Built target example5[100%] Linking CXX executable /home/rosfun/dev/catkin_ws/devel/lib/chapter2_tutorials/chap2_example4[100%] Built target chap2_example4rosfun@rosfun:~/dev/catkin_ws$ 

举2个例子说明一下：

rviz:ROS数据可视化工具

$ roscore

$ rviz

$ roslaunch chapter3_tutorials example9.launch

可以观察到红色方块在rviz中缓慢移动：

gazebo:（model已经完全下载好，ROS仿真利器）

$ roslaunch sphero_gazebo main.launch

$ roslaunch sphero_gazebo keyboard_teleop.launch

使用键盘控制小钢球在环境中移动，体验一下三维物理引擎仿真的效果（Gazebo 7.5）

当然书中的例子，以及github上代码有兴趣都可以尝试。

如果看到这里，想要安装后使用，请阅读如下文字：

如果对Linux不熟悉的话，冲动是魔鬼，先在U盘系统多多练习学习就好，否则万一安装失败windows没了怎么办，即使安装成功，无法进入windows怎么办，提示风险哦 ;-)

安装说明：

这时，如果你想安装，点击桌面右上角图标，是木有结果的：-)确定安装请往下看：

打开终端，输入$ sudo ubiquity    输入密码：exbot

熟悉的安装界面出现了：

请注意下面警告，谨慎操作：

安装步骤和Ubuntu一模一样，安装完成后，如果windows系统不见了，UEFI/Legacy情况不同，可查找解决。

Legacy比较简单，进入系统后在终端输入 sudo update-grub 或 sudo update-grub2 即可。

-End-

镜像制作稍后补充，可选用Pinguy Builder（已预装），Remastersys，respin。在sourceforge或github上可以下载。