ROS 不能安装 Ros Packages

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我的linux版本是16.04，安装的是kinetic

1. E: Some index files failed to download. They have been ignored, or old ones used instead. 或者 Error IP......一般都是源配置有问题

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'

将下载ros的源修改成为中科大的镜像地址，并把packages源地址修改成为中科大地址，实测安装ros系统或者相应包都很快

sudo gedit /etc/apt/sources.list

替换原来的源为USTC地址

# 默认注释了源码仓库，如有需要可自行取消注释
deb https://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse
# deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
# deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial-updates 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-backports main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
# deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse# 预发布软件源，不建议启用
# deb https://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
# deb-src https://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse

更新完之后运行更新源，就可以安装ros或者ros包

sudo apt-get update
#sudo apt-get install ros-kinetic-desktop-full
sudo apt-get install ros-kinetic-packagename

2. ubuntu下执行apt-get update 报异常

异常如下：
W: Unknown Multi-Arch type 'no' for package 'compiz-core'
W: Unknown Multi-Arch type 'no' for package 'compiz-gnome'
W: Unknown Multi-Arch type 'no' for package 'compiz-core'
W: Unknown Multi-Arch type 'no' for package 'compiz-gnome'
W: You may want to run apt-get update to correct these problems

apt与当前版本的ubuntun系统不匹配，ubuntun版本高于apt的版本．所以升级一下apt 就行了

解决方案：

sudo dpkg --configure -a
sudo apt-get install -f
sudo apt-get apt upgrade
sudo apt-get update

或者

apt-get install -f apt