ubuntu 16 kinetic install 雷达驱动

$ cd   ~/turtlebot_ws/src
$ git clone https://github.com/ncnynl/hokuyo_node.git
$ cd  ~/turtlebot_ws
$ catkin_make -DCATKIN_WHITELIST_PACKAGES="hokuyo_node"
$ source /home/***/turtlebot_ws/devel/setup.bash
$ source ~/.bash

重要的是，激活端口

$ sudo chmod a+rw /dev/ttyACM0

参考

问题：

Could not find a package configuration file provided by "driver_base" with
  any of the following names:

    driver_baseConfig.cmake
    driver_base-config.cmake

  Add the installation prefix of "driver_base" to CMAKE_PREFIX_PATH or set
  "driver_base_DIR" to a directory containing one of the above files.  If
  "driver_base" provides a separate development package or SDK, be sure it
  has been installed.
Call Stack (most recent call first):
  hokuyo_node/CMakeLists.txt:13 (find_package)

貌似kinetic就没有driver_base
wiki 也没有

$ sudo apt-get install ros-kinetic-driver-base   tab不出来

并且hokuyo_node也是tab不出来的
wiki上有说明，这没办法了

kinetic: Cannot load information on name: hokuyo_node, distro: kinetic, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.

问题原因
装这个

或者

$ sudo apt-get install ros-kinetic-urg-node 

使用

$ roscore
$ rosrun urg_node urg_node