一.首先下载安装bbb的ubuntu14.04系统

参考：http://www.armhf.com/boards/beaglebone-black/bbb-sd-install/

下载镜像，把SD卡，创建两个分区，一分区为vfat格式,用于存放Uboot; 一个是ext4格式，用于存放rootfs.

二.因为下载的是bbb的ubuntu14.04Trusty版本，所以按照：http://wiki.ros.org/indigo/Installation/UbuntuARM安装ros-indigo

将SD卡插入BBB板中，开机运行ubuntu，

username:ubuntu

passwd:ubuntu

安装ros

1.

Set your Locale

sudo update-locale LANG=C LANGUAGE=C LC_ALL=C LC_MESSAGES=POSIX

2.Setup your sources.list\

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list'

3.Set up your keys

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

如果超时timeout:

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

4.

sudo apt-get update

5.安装ros-indigo的基础包

sudo apt-get install ros-indigo-ros-base

也可以全部安装，但要求有gnome桌面支持

sudo apt-get install ros-indigo-desktop

6.

安装

sudo apt-get install ros-indigo-navigation

7.

sudo apt-get install python-rosdep

8.

echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc

9.

sudo apt-get install python-rosinstall

10. source .bashrc设置环境，运行roscore