1.启动RosMaster（管理Ros中各个节点的“大管家”，每次启动Ros时需要首先启动RosMaster）

roscore

fang@fang-inspiron-5580:~/ros2/download/rosdistro$ roscore
... logging to /home/fang/.ros/log/6ec2d790-fe1d-11ee-aba8-1c1bb5cdec7c/roslaunch-fang-inspiron-5580-14636.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://fang-inspiron-5580:44325/
ros_comm version 1.14.13

2.启动海龟仿真器turtlesim

rosrun turtlesim turtlesim_node

fang@fang-inspiron-5580:~/ros2/download/rosdistro$ rosrun turtlesim turtlesim_node
QFactoryLoader::QFactoryLoader() checking directory path "/usr/lib/x86_64-linux-gnu/qt5/plugins/platforms" ...
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt5/plugins/platforms/libqeglfs.so"
Found metadata in lib /usr/lib/x86_64-linux-gnu/qt5/plugins/platforms/libqeglfs.so, metadata=
{
    "IID": "org.qt-project.Qt.QPA.QPlatformIntegrationFactoryInterface.5.3",
    "MetaData": {
        "Keys": [
            "eglfs"
        ]
    },
    "className": "QEglFSIntegrationPlugin",
    "debug": false,
    "version": 329989
}

3.启动海龟控制器

rosrun turtlesim turtle_teleop_key

fang@fang-inspiron-5580:~/ros2/download/rosdistro$ rosrun turtlesim turtle_teleop_key
Reading from keyboard
---------------------------
Use arrow keys to move the turtle. 'q' to quit.

使用键盘的上下左右键，可以控制小龟的移动

安装结束：
安装链接