# ROS Kinetic package installation and setup

In order to use tools such as rqt, rviz and others as well as running the simulator (SITL), you will need to install and setup ROS package

> **Hint** For more details on installation refer to [the main article](http://wiki.ros.org/kinetic/Installation/Ubuntu).

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> **Hint** If you are using Ubuntu 18.04, you will need to install ROS Melodic instead of ROS Kinetic. A complete guide of the installation is available [here](http://wiki.ros.org/melodic/Installation/Ubuntu).

## ROS Kinetic installation on Ubuntu

To find the correct package version, you will need to change the settings of your repositories. Go to "Software and updates" and enable `restricted`, `universe` and `multiverse`.

Set up your system so that software form `packages.ros.org` can be installed :

```bash
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
```

Configure access keys in your system for correct download:

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

Make sure that your packages are up to date:

```bash
sudo apt-get update
```

Now you can install the ROS package itself.

+ If you plan to use ROS together with the simulator (also includes tools such as rqt, rviz and others):

    ```bash
    sudo apt-get install ros-kinetic-desktop-full
    ```

+ If you plan to use ROS exclusively for tools rqt, rviz etc.:

    ```bash
    sudo apt-get install ros-kinetic-desktop
    ```

After the package has installed, initialize `rosdep`.
Package `rosdep` will allow to easily install dependecies for the source files that you whish to compile. Running some essential components of ROS will as well require this package.

```bash
sudo rosdep init
rosdep update
```

If you are not confortable with entering environment variables manually each time, you may configure it in a way that it add itself in your bash session on every new shell startup:

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

If you whish to install any additionnal packages for yout ROS Kinetic simply use:

```bash
sudo apt-get install ros-kinetic-PACKAGE
```