NVIDIA Jetson Nano / TX1 / TX2 / Xavier NX / AGX Xavier 安装ROS


环境要求:

  • 版本: ROSMelodic(Ubuntu18.04)
  • 支持JetPack >= 4.2 (Jetson Nano / TX1 / TX2 / Xavier NX / AGX Xavier)

1、安装依赖

$ sudo apt-add-repository universe
$ sudo apt-add-repository multiverse
$ sudo apt-add-repository restricted

2、添加ros镜像源

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

最好使用国内的镜像源,下面是中国科学技术大学的ros镜像源,更多国内镜像源参考

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

3、添加密钥

$ sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

4、更新下载源

$ sudo apt-get update

5、安装ros

$ sudo apt-get install ros-melodic-ros-base

6、添加ros环境变量

sudo sh -c 'echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc'

7、测试ros是否安装成功

显示为如下,安装成功

(base) shl@zhihui-mint:~$ roscore
... logging to /home/shl/.ros/log/e6a9effe-3dd8-11eb-9388-e0d55e449b44/roslaunch-zhihui-mint-11387.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://zhihui-mint:46237/
ros_comm version 1.14.9


SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.9

NODES

auto-starting new master
process[master]: started with pid [11494]
ROS_MASTER_URI=http://zhihui-mint:11311/

setting /run_id to e6a9effe-3dd8-11eb-9388-e0d55e449b44
process[rosout-1]: started with pid [11505]
started core service [/rosout]

8、安装ros的python库包rospy

pip3 install rospkg

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