ubuntu16.04下ROS最新换源方法，解决Hash sum

1.更换源

• 备份原始数据
  cd /etc/apt/
  sudo cp sources.list sources.list.bak
  sudo gedit sources.list
• 科大源:
  deb https://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse
  deb https://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
  deb https://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
  deb https://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
  deb https://mirrors.ustc.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
  deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse
  deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
  deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
  deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
  deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse

2.ros安装

• 添加源
  sudo sh -c '. /etc/lsb-release && echo "deb https://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
• 设置秘钥
  sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 0xB01FA116
• 确保系统软件处于最新版
  sudo apt-get update
• ROS完整版
  sudo apt-get install ros-kinetic-desktop-full
• 安装完成后，可以用下面的命令来查看可使用的包
  apt-cache search ros-kinetic
• 初始化ROS
  sudo rosdep init
  rosdep update
• 初始化环境变量
  echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
  source ~/.bashrc
• 安装重要插件
  sudo apt-get install python-rosinstall
• 测试是否安装成功
  roscore 如果显示 started core service [/rosout] 表示安装成功

备注

• ros中很多的第三方插件的安装格式是:
  sudo apt-get install ros-kinetic-...
  例如：sudo apt-get install ros-kinetic-turtlebot*
• 参考文章链接
• 参考文章有问题，建议严格按照此篇文章
• ubuntu16.04下安装ssh远程服务
  sudo apt-get install openssh-server
  sudo su
  vim /etc/ssh/sshd_config
  修改PermitRootLogin xxx(记不清楚原始的是啥了) 为 PermitRootLogin yes
  开启ssh服务 /etc/init.d/ssh start