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After many trials and errors, I finally managed to have an useable image with latest ROS on Ubunut LTS 16.04 Xenial. As the mother company of ubuntu is turning its focus on cloud, newly introduced features also make some trouble during my tests. Here I share the setup steps on Raspberry Pi 3.

1. Download image file Ubuntu 16.04LTS (mate flavour) from the following site https://ubuntu-mate.org/download/ Format your SD card and then follow this official tutorial to burn image on card.
2. Boot RPi. You may need a monitor and keyboard attached to RPi to configure user account and regional setting. Raspberry Pi will reboot several times to finish the setup process. In terminal, you can check current version of ubuntu with lsb_release -a and it will reads:

Distributor ID:   Ubuntu
Description:    Ubuntu 16.04 LTS
Release:    16.04
Codename:   xenial

1. Follow the generic ubuntu installation guide on http://wiki.ros.org/kinetic/Installation/Ubuntu There may issues like dpkg is locked when your RPi is connected to internet. DO NOT use the trick you found on Google and kill the unattended update & upgrade process, it will break your packages and cause many troubles. Have a cup of tea and wait at least 25 minutes to let the automatic upgrade finished and then proceed your installation.

Test your ROS installation with roscore command. If everything is right you will see launch information like following:

started roslaunch server http://car:35620/
ros_comm version 1.12.6


SUMMARY
========

PARAMETERS
* /rosdistro: kinetic
* /rosversion: 1.12.6

NODES

auto-starting new master
process[master]: started with pid [15144]
ROS_MASTER_URI=http://car:11311/

setting /run_id to c3d408b2-e638-11e6-ab56-b827ebcb5efa
process[rosout-1]: started with pid [15171]
started core service [/rosout]

1. Other packages have been installed on RPi PiGPIO mosh teleconsole create_ap