我当前使用的是ubuntu 16.04，ros kinetic ，Gazebo版本为7.0。protoc需要确保版本为2.6.1，而我当前的为3.4.0，因此需要将系统中的protoc替换为2.6.1版本。

controller manager.:
git https://github.com/ros-controls/ros_control.git (branch: kinetic-devel)

resource_retriever:
git https://github.com/ros/resource_retriever.git (branch: kinetic-devel

LMS1xx:
git https://github.com/clearpathrobotics/lms1xx.git (branch: master)

gazebo_ros:
git https://github.com/ros-simulation/gazebo_ros_pkgs.git (branch: kinetic-devel)

control_toolbox:
git https://github.com/ros-controls/control_toolbox.git (branch: kinetic-devel)

mrpt_bridge:
git https://github.com/mrpt-ros-pkg/mrpt_bridge.git (branch: master)

realtime_tools:
git https://github.com/ros-controls/realtime_tools.git (branch: kinetic-devel)

转到catkin事情区的顶级目录，此中包罗您要使用的ROS包的源代码。然后运行：
此命令可以神奇地安置catkin事情区中的软件包所依赖但在您的计算机上缺少的所有软件包。
sudo rosdep install --from-paths src --ignore-src -r -y --rosdistro kinetic

ubuntu 16.04，ros kinetic 使用husy_gazebo