我当前使用的是ubuntu 16.04，ros kinetic ，Gazebo版本为7.0。protoc需要确保版本为2.6.1，而我当前的为3.4.0，因此需要将系统中的protoc替换为2.6.1版本。
controller manager.:
git https://github.com/ros-controls/ros_control.git (branch: kinetic-devel)
resource_retriever:
git https://github.com/ros/resource_retriever.git (branch: kinetic-devel
LMS1xx:
git https://github.com/clearpathrobotics/lms1xx.git (branch: master)
gazebo_ros:
git https://github.com/ros-simulation/gazebo_ros_pkgs.git (branch: kinetic-devel)
control_toolbox:
git https://github.com/ros-controls/control_toolbox.git (branch: kinetic-devel)
mrpt_bridge:
git https://github.com/mrpt-ros-pkg/mrpt_bridge.git (branch: master)
realtime_tools:
git https://github.com/ros-controls/realtime_tools.git (branch: kinetic-devel)
转到catkin工作区的顶级目录，其中包含您要使用的ROS包的源代码。然后运行：
此命令可以神奇地安装catkin工作区中的软件包所依赖但在您的计算机上缺少的所有软件包。
sudo rosdep install --from-paths src --ignore-src -r -y --rosdistro kinetic