RTP（Robi改造计划）--- Stretch可以跑Kinetic了

折腾了蛮久更新版本，起因是gcc 4.9不支持结构体指定初始化但是我很喜欢它；于是打算更新成5.x或者6.x，然后连操作系统一起更新成stretch了---虽然这风险很大，但是我就是这么轴啊。。。紧接着ROS肯定是不行了，于是也干脆更新为kinetic算了。

好消息是kinetic在raspberry的源码编译比indigo好多了；当然选择ros_comm，
后续再添加，好过浪费时间在不需要的包上。
http://wiki.ros.org/ROSberryPi/Installing%20ROS%20Kinetic%20on%20the%20Raspberry%20Pi
我只根据这个链接就完成了，相当顺利。

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编译刚刚过了，下面就是我最喜欢的调试了，调试是我最喜欢的部分。



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后续可能需要添加的候选包列表（我现在只选了actionlib common_msgs geometry navigation_msgs）：

actionlib

angles

bond_core/bond

   bond_core/bond_core

   bond_core/bondcpp

   bond_core/bondpy

   bond_core/smclib

collada_urdf/collada_parser

   collada_urdf/collada_urdf

common_msgs/actionlib_msgs

   common_msgs/common_msgs

   common_msgs/diagnostic_msgs

   common_msgs/geometry_msgs

   common_msgs/nav_msgs

   common_msgs/sensor_msgs

   common_msgs/shape_msgs

   common_msgs/stereo_msgs

   common_msgs/trajectory_msgs

   common_msgs/visualization_msgs

common_tutorials/actionlib_tutorials

   common_tutorials/common_tutorials

   common_tutorials/nodelet_tutorial_math

   common_tutorials/pluginlib_tutorials

   common_tutorials/turtle_actionlib

control_msgs

diagnostics/diagnostic_aggregator

   diagnostics/diagnostic_analysis

   diagnostics/diagnostic_common_diagnostics

   diagnostics/diagnostic_updater

   diagnostics/diagnostics

   diagnostics/self_test

dynamic_reconfigure

eigen_stl_containers   

executive_smach/executive_smach

   executive_smach/smach

   executive_smach/smach_msgs

   executive_smach/smach_ros

filters

gazebo_ros_pkgs/gazebo_dev

   gazebo_ros_pkgs/gazebo_msgs

   gazebo_ros_pkgs/gazebo_plugin

   gazebo_ros_pkgs/gazebo_ros

   gazebo_ros_pkgs/gazebo_ros_pkgs

geometric_shapes

geometry/eigen_conversions

   geometry/geometry

   geometry/kdl_conversions

   geometry/tf

   geometry/tf_conversions

geometry2/tf2

   geometry2/tf2_eigen

   geometry2/tf2_geometry_msgs

   geometry2/tf2_kdl

   geometry2/tf2_msgs

   geometry2/tf2_py

   geometry2/tf2_ros

geometry_tutorials/geometry_tutorials

   geometry_tutorials/turtle_tf

   geometry_tutorials/turtle_tf2

gl_dependency

image_common/camera_calibration_parsers

   image_common/camera_info_manager

   image_common/image_common

   image_common/image_transport

   image_common/polled_camera

image_pipeline/camera_calibration

   image_pipeline/depth_image_proc

   image_pipeline/image_pipeline

   image_pipeline/image_proc

   image_pipeline/image_publisher

   image_pipeline/image_rotate

   image_pipeline/image_view

   image_pipeline/stereo_image_proc

image_transport_plugins/compressed_depth_image_transport

   image_transport_plugins/compressed_image_transport

   image_transport_plugins/image_transport_plugins

   image_transport_plugins/theora_image_transport

interactive_markers   

joint_state_publisher

kdl_parser/kdl_parser

laser_assembler  

laser_filters 

laser_geometry

laser_pipeline

media_export

metapackages/desktop

   metapackages/desktop_full

   metapackages/perception

   metapackages/robot

   metapackages/ros_base

   metapackages/ros_core

   metapackages/simulators

   metapackages/viz

navigation_msgs/map_msgs

nodelet_core/nodelet

   nodelet_core/nodelet_core

   nodelet_core/nodelet_topic_tools

octomap/octomap

opencv3

orocos_kinematics_dynamics/orocos_kdl

   orocos_kinematics_dynamics/python_orocos_kdl

pcl_conversions

pcl_msgs

perception_pcl/pcl_ros

perception_pcl/perception_pcl

pluginlib

python_qt_binding

qt_gui_core/qt_dotgraph

qt_gui_core/qt_gui

qt_gui_core/qt_gui_cpp

qt_gui_core/qt_gui_py_common

qwt_dependency

random_numbers

resource_retriever

robot_model

robot_state_publisher

ros_tutorials/ros_tutorials

   ros_tutorials/roscpp_tutorials

   ros_tutorials/rospy_tutorials

   ros_tutorials/turtlesim

rosbag_migration_rule

rosconsole_bridge

roscpp_core/roscpp_core

roslint

rqt/rqt_gui

   rqt/rqt_gui_cpp

   rqt/rqt_gui_py

   rqt/rqt_py_common

   rqt_action

   rqt_bag/rqt_bag

   rqt_bag/rqt_bag_plugins

   rqt_common_plugins

   rqt_console

   rqt_dep

   rqt_graph

   rqt_image_view

   rqt_launch

   rqt_logger_level

   rqt_moveit

   rqt_msg

   rqt_nav_view

   rqt_plot

   rqt_pose_view

   rqt_publisher

   rqt_py_console   

   rqt_reconfigure

   rqt_robot_dashboard

   rqt_robot_monitor

   rqt_robot_plugins

   rqt_robot_steering

   rqt_runtime_monitor

   rqt_rviz

   rqt_service_caller

   rqt_shell

   rqt_srv

   rqt_tf_tree

   rqt_top

   rqt_topic

   rqt_web

rviz

stage

stage_ros

urdf/urdf

   urdf/urdf_parser_plugin

urdf_tutorial/urdf_tutorial

vision_opencv/cv_bridge

   vision_opencv/image_geometry

   vision_opencv/vision_opencv

visualization_tutorials/librviz_tutorial

   visualization_tutorials/interactive_marker_tutorials

   visualization_tutorials/rviz_plugin_tutorials

   visualization_tutorials/rviz_python_tutorial

   visualization_tutorials/visualization_marker_tutorials

   visualization_tutorials/visualization_tutorials

webkit_dependency

xacro

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ros_comm 52 + 176 customer = 228个desktop package