从头开始安装Ubuntu,cuda,cudnn,caffe,tensorflow,ROS

从头开始安装Ubuntu,cuda,cudnn,caffe,tensorflow,ROS

标签： ubuntucuda
2016-03-01 11:10 331人阅读 评论(0) 收藏 举报


分类：


Deep Learning（10）

Robotics（9）


版权声明：本文为博主原创文章，未经博主允许不得转载。

目录(?)[+]

前言

安装ubuntu一直是一件特别特别麻烦的事情，以前常常因为换一台主机就得完全重新安装一遍，每次安装都要折腾特别久，总会遇到各种各样的问题。因此很有必要写一个Blog完整记录整个过程及遇到的问题。

现在，我使用Thinkpad e49来进行完全从头的安装。该型电脑有入门级显卡Nvidia GeForce 610M（支持CUDA）。之前安装的是Windows 7。

这里一步一步介绍以下安装：

Ubuntu14.04.3
CUDA7.5
cudnn3.0
caffe
tensorflow 0.7.1
ROS indigo

所需设备：

一台带有Nvidia GPU的电脑
一个4g以上U盘
有一台安装windows的电脑，安装UltraISO

Step 1：安装Ubuntu

Step 1.1：准备安装U盘

首先到官网下载Ubuntu的镜像，我使用的是Ubuntu 14.04.3的ISO。

然后使用UltraISO来将镜像刻录到U盘中。

Step 1.1.1：启动UltraISO，打开iso镜像

Step 1.1.2：在菜单栏中点击启动选择写入硬盘镜像

Step 1.1.3：格式化U盘，选择usb-HDD+，刻录完成后点击便捷启动写入syslinux引导

经过以上几步，安装U盘准备完毕

Step 1.2 Ubuntu安装

Step 1.2.1 启动电脑，进入BIOS选择启动项到U盘。（对于Thinkpad E49按F12进入）

Step 1.2.2 选择Install Ubuntu进入安装（对于Thinkpad E49需要重新插拔一下U盘，否则可能会出现找不到文件系统的错误unable to find a medium containing a live file system）

Step 1.2.3 一路continue到选择Erase disk and install Ubuntu,这里我使用完全重新安装，然后点击Install

Step 1.2.4 中间需要设置用户名密码等信息。正常几分钟就可以安装完毕。重启进入系统

Step 2：安装cuda

这里我使用cuda7.5的deb进行安装。

之前我尝试过使用.run文件进行安装。但是常常安装完成之后重启出现一直在登陆界面的情况。网上有很多这方面的问题，但能真正解决办法的很难找到。因此这里采用.deb安装。需要注意的是，可以跳过单独安装Nvidia的显卡驱动而直接安装cuda，因为cuda里面自带了显卡驱动,会自动安装

Step 2.1 到Nvidia官网下载cud的deb安装文件

Step 2.2 关闭与Nvidia内核不兼容的nouveau

这里参考caffe安装教程：https://github.com/BVLC/caffe/wiki/Install-Caffe-on-EC2-from-scratch-(Ubuntu,-CUDA-7,-cuDNN)

打开Terminal终端（Ctrl+Alt+T）

<code class="hljs avrasm has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;">sudo edit /etc/modprobe<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">.d</span>/blacklist-nouveau<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">.conf</span></code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li></ul>

在文件中写入：

<code class="hljs vbnet has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;">blacklist nouveau
blacklist lbm-nouveau
options nouveau modeset=<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">alias</span> nouveau <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">off</span>
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">alias</span> lbm-nouveau <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">off</span></code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li><li style="box-sizing: border-box; padding: 0px 5px;">4</li><li style="box-sizing: border-box; padding: 0px 5px;">5</li></ul>

在terminal中执行

<code class="hljs bash has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;"><span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">echo</span> options nouveau modeset=<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span> | <span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">sudo</span> tee <span class="hljs-operator" style="box-sizing: border-box;">-a</span> /etc/modprobe.d/nouveau-kms.conf
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">sudo</span> update-initramfs -u
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">sudo</span> reboot</code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li></ul>

（貌似并没有执行conf文件，但关掉了nouveau，如果没有关掉nouveau，会导致安装cuda之后重启就进入不了系统，出现 ACPI PCC probe failed的错误）

重启开始安装cuda

Step 2.3 安装build-essential

<code class="hljs lasso has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;">sudo apt<span class="hljs-attribute" style="box-sizing: border-box;">-get</span> update
sudo apt<span class="hljs-attribute" style="box-sizing: border-box;">-get</span> install build<span class="hljs-attribute" style="box-sizing: border-box;">-essential</span></code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li></ul>

Step 2.4 安装cuda

进入到cuda .deb安装位置

<code class="hljs lasso has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;">sudo dpkg <span class="hljs-attribute" style="box-sizing: border-box;">-i</span> cuda<span class="hljs-attribute" style="box-sizing: border-box;">-repo</span><span class="hljs-attribute" style="box-sizing: border-box;">-ubuntu1404_local_7</span><span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">.5</span><span class="hljs-subst" style="color: rgb(0, 0, 0); box-sizing: border-box;">-</span><span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">18</span>_amd64<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">.</span>deb
sudo apt<span class="hljs-attribute" style="box-sizing: border-box;">-get</span> update
sudo apt<span class="hljs-attribute" style="box-sizing: border-box;">-get</span> install cuda</code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li></ul>

安装完毕之后，打开bashrc文件，将cuda路径写入：

<code class="hljs avrasm has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;">gedit ~/<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">.bashrc</span></code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li></ul>

在basic文件中写入：

<code class="hljs ruby has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;">export <span class="hljs-constant" style="box-sizing: border-box;">PATH</span>=<span class="hljs-variable" style="color: rgb(102, 0, 102); box-sizing: border-box;">$PATH</span><span class="hljs-symbol" style="color: rgb(0, 102, 102); box-sizing: border-box;">:/usr/local/cuda/bin</span>
export <span class="hljs-constant" style="box-sizing: border-box;">LD_LIBRARY_PATH</span>=<span class="hljs-symbol" style="color: rgb(0, 102, 102); box-sizing: border-box;">:/usr/local/cuda/lib64</span></code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li></ul>

Step 2.5 验证安装

<code class="hljs bash has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;"><span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cd</span> /usr/local/cuda/samples/<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>_Utilities/deviceQuery
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">sudo</span> make
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">sudo</span> ./deviceQuery</code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li></ul>

运行测试代码，如果现在找到GPU则成功

Step 3 安装cudnn

这部分比较简单，首先要注册Nvidia的开发账号，然后才能下载cudnn。

下载下来后：

<code class="hljs lasso has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;">tar <span class="hljs-attribute" style="box-sizing: border-box;">-zxf</span> cudnn<span class="hljs-subst" style="color: rgb(0, 0, 0); box-sizing: border-box;">-</span><span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">7.0</span><span class="hljs-attribute" style="box-sizing: border-box;">-linux</span><span class="hljs-attribute" style="box-sizing: border-box;">-x64</span><span class="hljs-attribute" style="box-sizing: border-box;">-v3</span><span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">.0</span><span class="hljs-attribute" style="box-sizing: border-box;">-prod</span><span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">.</span>tgz
cd cuda
sudo cp lib64<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/* /usr/local/cuda/lib64/
sudo cp include/cudnn.h /usr/local/cuda/include/</span></code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li><li style="box-sizing: border-box; padding: 0px 5px;">4</li></ul>

Step 4 更新一下系统

<code class="hljs lasso has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;">sudo apt<span class="hljs-attribute" style="box-sizing: border-box;">-get</span> update <span class="hljs-subst" style="color: rgb(0, 0, 0); box-sizing: border-box;">&&</span> sudo apt<span class="hljs-attribute" style="box-sizing: border-box;">-get</span> upgrade
sudo apt<span class="hljs-attribute" style="box-sizing: border-box;">-get</span> install linux<span class="hljs-attribute" style="box-sizing: border-box;">-source</span>
sudo apt<span class="hljs-attribute" style="box-sizing: border-box;">-get</span> install linux<span class="hljs-attribute" style="box-sizing: border-box;">-headers</span><span class="hljs-subst" style="color: rgb(0, 0, 0); box-sizing: border-box;">-</span><span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">`uname -r`</span></code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li></ul>

其中linux-source在前面参考教程中有安装，因此也一并安装。

重启后仍然有ACPI PCC probe failed的错误，但不影响进入系统

Step 5 安装Caffe

<code class="hljs avrasm has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;">sudo apt-get install -<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">y</span> libprotobuf-dev libleveldb-dev libsnappy-dev libopencv-dev libboost-all-dev libhdf5-serial-dev protobuf-compiler gfortran libjpeg62 libfreeimage-dev libatlas-base-dev git python-dev python-pip libgoogle-glog-dev libbz2-dev libxml2-dev libxslt-dev libffi-dev libssl-dev libgflags-dev liblmdb-dev python-yaml python-numpy

sudo easy_install pillow
sudo apt-get install pypy-dev

cd ~
git clone https://github<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">.com</span>/BVLC/caffe<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">.git</span>

cd caffe
cat python/requirements<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">.txt</span> | xargs -L <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span> sudo pip install

<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">cp</span> Makefile<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">.config</span><span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">.example</span> Makefile<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">.config</span>
vi Makefile<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">.config</span>
<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;"># 去掉USE_CUDNN:=1注释</span>
<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;"># 去掉WITH_PYTHON_LAYERS注释</span>

make pycaffe -jX
make all -jX
make test -jX

export PYTHONPATH=/home/username/caffe/python</code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li><li style="box-sizing: border-box; padding: 0px 5px;">4</li><li style="box-sizing: border-box; padding: 0px 5px;">5</li><li style="box-sizing: border-box; padding: 0px 5px;">6</li><li style="box-sizing: border-box; padding: 0px 5px;">7</li><li style="box-sizing: border-box; padding: 0px 5px;">8</li><li style="box-sizing: border-box; padding: 0px 5px;">9</li><li style="box-sizing: border-box; padding: 0px 5px;">10</li><li style="box-sizing: border-box; padding: 0px 5px;">11</li><li style="box-sizing: border-box; padding: 0px 5px;">12</li><li style="box-sizing: border-box; padding: 0px 5px;">13</li><li style="box-sizing: border-box; padding: 0px 5px;">14</li><li style="box-sizing: border-box; padding: 0px 5px;">15</li><li style="box-sizing: border-box; padding: 0px 5px;">16</li><li style="box-sizing: border-box; padding: 0px 5px;">17</li><li style="box-sizing: border-box; padding: 0px 5px;">18</li><li style="box-sizing: border-box; padding: 0px 5px;">19</li><li style="box-sizing: border-box; padding: 0px 5px;">20</li><li style="box-sizing: border-box; padding: 0px 5px;">21</li></ul>

Step 6： 安装tensorflow

<code class="hljs vala has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;">sudo apt-<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">get</span> install python-pip python-dev
<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;"># Ubuntu/Linux 64-bit, GPU enabled:</span>
sudo pip install --upgrade https:<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//storage.googleapis.com/tensorflow/linux/gpu/tensorflow-0.7.1-cp27-none-linux_x86_64.whl</span>
</code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li><li style="box-sizing: border-box; padding: 0px 5px;">4</li></ul>

测试tensorflow：

<code class="hljs python has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;">$ python
...
<span class="hljs-prompt" style="color: rgb(0, 102, 102); box-sizing: border-box;">>>> </span><span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">import</span> tensorflow <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">as</span> tf
<span class="hljs-prompt" style="color: rgb(0, 102, 102); box-sizing: border-box;">>>> </span>hello = tf.constant(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">'Hello, TensorFlow!'</span>)
<span class="hljs-prompt" style="color: rgb(0, 102, 102); box-sizing: border-box;">>>> </span>sess = tf.Session()
<span class="hljs-prompt" style="color: rgb(0, 102, 102); box-sizing: border-box;">>>> </span>print(sess.run(hello))
Hello, TensorFlow!
<span class="hljs-prompt" style="color: rgb(0, 102, 102); box-sizing: border-box;">>>> </span>a = tf.constant(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">10</span>)
<span class="hljs-prompt" style="color: rgb(0, 102, 102); box-sizing: border-box;">>>> </span>b = tf.constant(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">32</span>)
<span class="hljs-prompt" style="color: rgb(0, 102, 102); box-sizing: border-box;">>>> </span>print(sess.run(a + b))
<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">42</span>
>>>
</code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li><li style="box-sizing: border-box; padding: 0px 5px;">4</li><li style="box-sizing: border-box; padding: 0px 5px;">5</li><li style="box-sizing: border-box; padding: 0px 5px;">6</li><li style="box-sizing: border-box; padding: 0px 5px;">7</li><li style="box-sizing: border-box; padding: 0px 5px;">8</li><li style="box-sizing: border-box; padding: 0px 5px;">9</li><li style="box-sizing: border-box; padding: 0px 5px;">10</li><li style="box-sizing: border-box; padding: 0px 5px;">11</li><li style="box-sizing: border-box; padding: 0px 5px;">12</li><li style="box-sizing: border-box; padding: 0px 5px;">13</li></ul>

Step 7：安装ROS

<code class="hljs bash has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;"><span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">## add ROS repository and key</span>
<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">## install main ROS pacakges</span>
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">sudo</span> sh -c <span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list'</span>
wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | <span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">sudo</span> apt-key add -
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">sudo</span> apt-get update
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">sudo</span> apt-get -y install ros-indigo-desktop-full
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">sudo</span> rosdep init
rosdep update

<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">## setup environment variables</span>
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">sudo</span> sh -c <span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">'echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc'</span>
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">source</span> ~/.bashrc

<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">## get rosinstall and some additional dependencies</span>
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">sudo</span> apt-get -y install python-rosinstall ros-indigo-octomap-msgs ros-indigo-joy ros-indigo-geodesy unzip ros-indigo-octomap-ros</code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li><li style="box-sizing: border-box; padding: 0px 5px;">4</li><li style="box-sizing: border-box; padding: 0px 5px;">5</li><li style="box-sizing: border-box; padding: 0px 5px;">6</li><li style="box-sizing: border-box; padding: 0px 5px;">7</li><li style="box-sizing: border-box; padding: 0px 5px;">8</li><li style="box-sizing: border-box; padding: 0px 5px;">9</li><li style="box-sizing: border-box; padding: 0px 5px;">10</li><li style="box-sizing: border-box; padding: 0px 5px;">11</li><li style="box-sizing: border-box; padding: 0px 5px;">12</li><li style="box-sizing: border-box; padding: 0px 5px;">13</li><li style="box-sizing: border-box; padding: 0px 5px;">14</li><li style="box-sizing: border-box; padding: 0px 5px;">15</li></ul>

Step 8：***iso镜像

1.下载 remastersys.deb安装包remastersys_3.0.4-2_all.zip

2、点击 remastersys.deb，在弹出的软件中心中点击安装，

3.安装完成后，打开终端输入sudo remastersys，打开软件；

4.sudo remastersys dist ，然后要耐心等待，这里千万不要乱操作；

5.大功告成后，在/home/remastersys中就可以找到你要***的光盘镜像了~

另附：remastersys命令详解：

remastersys的语法: sudo remastersys backup|clean|dist [cdfs|iso] [filename.iso]

1)将你的系统备份制成一个live cd/dvd sudo remastersys backup

2) 将你的系统备份制成一个live cd/dvd其名叫 custom.iso 的ISO文件.

sudo remastersys backup custom.iso

3)清除由 remastersys产生的临时文件 sudo remastersys clean

4) 产生一个可发布又包括你的个人资料的 livecd/dvd

sudo remastersys dist

5) 产生一个只有档案系统的可发布的 livecd/dvd

sudo remastersys dist cdfs

6) 为了产生一个可发布又包括你的个人资料的 livecd/dvd 其名叫 custom.iso的ISO文件:

sudo remastersys dist iso custom.iso