安装ubuntu16.04 MATE系统
1.安装Ubuntu16.04镜像
从官网下载并按照树莓派刷写系统的流程将ubuntu16.04 MATE烧写到树莓派的SD卡上
2.设置WiFi
将树莓派外接显示器，在图形化操作界面中设置连接无线；
3.更新源
备份原配置文件
sudo cp /etc/apt/sources.list /etc/apt/sources.list.bak
添加清华大学的软件源，将以下内容复制到sources.list中，替换原有内容
用任意编辑器打开sources.list，此处以nano为例：
sudo nano /etc/apt/sources.list
将以下内容复制进去并保存退出
1 deb http://mirrors.tuna./ubuntu-ports/ xenail-updates main restricted universe multiverse
2 deb-src http://mirrors.tuna./ubuntu-ports/ xenail-updates main restricted universe multiverse
3 deb http://mirrors.tuna./ubuntu-ports/ xenail-security main restricted universe multiverse
4 deb-src http://mirrors.tuna./ubuntu-ports/ xenail-security main restricted universe multiverse
5 deb http://mirrors.tuna./ubuntu-ports/ xenail-backports main restricted universe multiverse
6 deb-src http://mirrors.tuna./ubuntu-ports/ xenail-backports main restricted universe multiverse
7 deb http://mirrors.tuna./ubuntu-ports/ xenail main restricted universe multiverse
8 deb-src http://mirrors.tuna./ubuntu-ports/ xenail main restricted universe multiverse
更新系统软件源
sudo apt-get update
安装ROS
1.添加Ubuntu16.04软件源，这里使用中科大的软件源
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors./ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
2.设置密钥
sudo apt-key adv --keyserver hkp://ha.pool.sks-:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
3.更新软件源
sudo apt-get update
4.安装ROS
树莓派性能有限，不推荐在树莓派系统上运行ROS的GUI工具，所以安装ROS的基本功能包即可：
sudo apt-get install ros-kinetic-ros-base
5.安装rosdep工具
1 sudorosdep init2 rosdep update
6.设置环境变量
1 echo "source /opt/ros/kinetic/setup.bash">> ~/.bashrc2 source ~/.bashrc
7.安装其他功能包
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
至此就完成了全部安装过程，如果安装顺利，在树莓派终端输入
roscore
即可启动ros
