1.安装Ubuntu16.04
①分区方案 (共70G）
/ :20G /swap : 2G /boot : 200M /home : 48G
②制作启动项
③搜狗输入法
参考http://blog.csdn.net/leijiezhang/article/details/53707181
④Google chrome（参考：http://www.linuxidc.com/Linux/2016-05/131096.htm）
依次在终端输入以下命令：
1 sudo wget http://www.linuxidc.com/files/repo/google-chrome.list -P /etc/apt/sources.list.d/ 2 3 wget -q -O - https://dl.google.com/linux/linux_signing_key.pub | sudo apt-key add - 4 5 sudo apt-get update 6 7 sudo apt-get install google-chrome-stable
⑤***（安装shadowsocks + chrome的Proxy SwitchyOmega插件）
依次在终端输入以下命令安装shadowssocks：
1 sudo add-apt-repository ppa:hzwhuang/ss-qt5 2 3 sudo apt-get update 4 5 sudo apt-get install shadowsocks-qt5
云影https://get.cloudss.biz/
安装设置SwitchyOmega插件
2.安装ros系统 + turtlebot3软件包
参考：http://emanual.robotis.com/docs/en/platform/turtlebot3/pc_software_setup/#install-ubuntu-on-remote-pc-desktop-or-laptop-pc
3.安装opencv3.4
①安装依赖项
sudo apt-get install build-essential libgtk2.0-dev libjpeg-dev libtiff4-dev libjasper-dev libopenexr-dev cmake python-dev python-numpy python-tk libtbb-dev libeigen2-dev yasm libfaac-dev libopencore-amrnb-dev libopencore-amrwb-dev libtheora-dev libvorbis-dev libxvidcore-dev libx264-dev libqt4-dev libqt4-opengl-dev sphinx-common texlive-latex-extra libv4l-dev libdc1394-22-dev libavcodec-dev libavformat-dev libswscale-dev
②下载opencv源码：https://opencv.org/releases.html
③把OpenCV解压到下载目录中，用cmake编译再安装
1 mkdir build 2 3 cd build 4 5 cmake .. 6 7 make 8 9 sudo make install
④安装cv_bridge
卸载以前的cv_bridge
1 sudo apt-get remove --purge ros-jade-cv_bridge
然后下载新版本的cv_bridge
1 git clone https://github.com/ros-perception/vision_opencv.git
在cv_bridge包里创建build文件夹用cmake编译再安装
1 cd ~/vision_opencv/cv_bridge 2 3 mkdir build 4 5 cd ./build 6 7 cmake .. 8 9 make 10 11 sudo make install
修改对应的cmakelists.txt
主要是添加一句话，后面的路径是自己的路径，查找cv_bridgeconfig.cmake所在的路径即可
set(cv_bridge_DIR /usr/local/share/cv_bridge/cmake)
4.安装pcl
参考：http://blog.csdn.net/u013065119/article/details/71151924
https://larrylisky.com/2016/11/03/point-cloud-library-on-ubuntu-16-04-lts/