1.首先安装一些依赖包
sudo apt-get install ros-kinetic-turtlebot-bringup ros-kinetic-turtlebot-create ros-kinetic-openni-* ros-kinetic-openni2-* ros-kinetic-freenect-* ros-kinetic-usb-cam ros-kinetic-laser-* ros-kinetic-hokuyo-node ros-kinetic-audio-common gstreamer0.10-pocketsphinx ros-kinetic-pocketsphinx ros-kinetic-slam-gmapping ros-kinetic-joystick-drivers python-rosinstall ros-kinetic-orocos-kdl ros-kinetic-python-orocos-kdl python-setuptools ros-kinetic-dynamixel-motor libopencv-dev python-opencv ros-kinetic-vision-opencv ros-kinetic-depthimage-to-laserscan ros-kinetic-arbotix-* ros-kinetic-turtlebot-teleop ros-kinetic-move-base ros-kinetic-map-server ros-kinetic-fake-localization ros-kinetic-amcl git subversion mercurial
其中，ros-kinetic-hokuyo-node（北阳激光雷达）、gstreamer0.10-pocketsphinx和ros-kinetic-pocketsphinx（语音识别库）
和ros-kinetic-arbotix-*（模拟器）在ros kinetic版本中没有，如果用到需要源码编译
2.下载rbx1和arbotix源码并编译
mkdir -p ~/dev/catkin_ws/src cd ~/dev/catkin_ws/src catkin_init_workspace git clone https://github.com/pirobot/rbx1.git git clone https://github.com/vanadiumlabs/arbotix_ros.git
cd ..
catkin_make
source devel/setup.bash
其他包没用到就没有用到就没有编译