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_make
Base path: /home/rosfun/dev/catkin_ws
Source space: /home/rosfun/dev/catkin_ws/src
Build space: /home/rosfun/dev/catkin_ws/build
Devel space: /home/rosfun/dev/catkin_ws/devel
Install 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_profiler
Generating reconfiguration files for chapter2_ in chapter2_tutorials
Wrote header file in /home/rosfun/dev/catkin_ws/devel/include/chapter2_tutorials/chapter2_Config.h
[  9%] Built target camera_timer
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[ 10%] Built target chapter2_tutorials_gencfg
[ 11%] Built target sendGoals
[ 11%] Built target _chapter3_tutorials_generate_messages_check_deps_SetSpeed
[ 12%] Built target example7
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[ 26%] Built target pcl_downsampling
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[ 32%] Built target pcl_planar_segmentation
[ 32%] Built target pcl_matching
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[ 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
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[ 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
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[ 36%] Built target visualization_msgs_generate_messages_eus
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[ 36%] Built target trajectory_msgs_generate_messages_nodejs
[ 36%] Built target trajectory_msgs_generate_messages_eus
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[ 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_lisp
Scanning 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
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[ 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
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[ 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_example4
rosfun@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。