4.3 构建rosbuild包

只构建ROS Common（Bare Bones）是不需要这一步的，在上一步我也没有成功编译desktop， 如果你成功了可以继续下面的步骤：

4.3.1 创建rosbuild工作空间

mkdir ~/ros_ws
cd ~/ros_ws
rosws init . ~/ros_catkin_ws/install_isolated

4.3.2 下载ROS Stacks

Desktop-Full Install: 2d/3d simulators, navigation, robot models and several tutorial stacks

rosws merge //packages.ros.org/web/rosinstall/generate/dry/raw/groovy/desktop-full

Desktop Install: ROS, rqt, rviz, and robot-generic libraries

rosws merge //packages.ros.org/web/rosinstall/generate/dry/raw/groovy/desktop

Desktop-Full仍然有问题：There are build errors in desktop-full (gazebo simulator) at the moment, so the desktop variant is suggested at this time. See: https://code.ros.org/trac/ros-pkg/ticket/5595

rosws update -j8

4.3.3 构建ROS Stacks

下载完后：

source ~/ros_ws/setup.bash
rosmake -a