树莓派4b学习Rikirobot准备工作
1.安装镜像与配置无线网
参考:https://blog.csdn.net/weixin_42584917/article/details/104893754
1.Ubuntu Server 18.04.4 for Raspberry Pi
官网 https://ubuntu.com/download/raspberry-pi
板子:树莓派 4B
SD卡:32G+
2.Win32DiskImager等软件写入SD
参考:
[https://ubuntu.com/tutorials/create-an-ubuntu-image-for-a-raspberry-pi-on-macos#1-overview]
上电后登录,用户名ubuntu 密码ubuntu,第一次登陆需要重置密码(遇到unix password先输入原密码)
3.插电配置联网:
https://askubuntu.com/questions/1143287/how-to-setup-of-raspberry-pi-3-onboard-wifi-for-ubuntu-server-18-04
sudo nano /etc/netplan/50-cloud-init.yaml
修改为如下,将wifi名称和密码替换即可。注意断句位置和空格,建议使用保留格式的复制:
# This file is generated from information provided by
# the datasource. Changes to it will not persist across an instance.
# To disable cloud-init's network configuration capabilities, write a file
# /etc/cloud/cloud.cfg.d/99-disable-network-config.cfg with the following:
# network: {config: disabled}
network:
version: 2
ethernets:
eth0:
optional: true
dhcp4: true
# add wifi setup information here ...
wifis:
wlan0:
optional: true
access-points:
"YOUR-SSID-NAME":
password: "YOUR-NETWORK-PASSWORD"
dhcp4: true
应用配置 :
sudo netplan --debug apply
发送重启命令再拔掉网线:
sudo reboot
2.安装ROS
参考:
· https://blog.csdn.net/wwwmewww/article/details/104571436
·
1.修改镜像源,此处本人采用清华源。
清华源:https://mirrors.tuna.tsinghua.edu.cn
阿里源:https://mirrors.aliyun.com
中科大源:https://mirrors.ustc.edu.cn
备份原来的文件:
sudo cp /etc/apt/sources.list /etc/apt/sources.list.bak
更改源文件:
sudo vi /etc/apt/sources.list
把所有的 http://ports.ubuntu.com/ubuntu-ports 换成清华源的地址 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports,保存配置:
:wq
2.设置软件源
清华:
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
中科大:
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
3.设置秘钥
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654
4.安装ROS(依次执行)
sudo apt-get update
sudo apt-get install ros-melodic-desktop-full
sudo apt-get install ros-melodic-rqt*
5.初始化ROS
参考:https://blog.csdn.net/qq_43310597/article/details/105756819
sudo rosdep init
rosdep update
如果出现错误输入第一行代码时报错:找不到命令,输入以下代码:
sudo apt install python-rosdep
如果输入第二行代码时出现ERROR:unable to process source加上一大串, 多试几次或者更换手机热点连接或者用有线连接尝试,并重复错误2中的步骤,再次输入这一小节最开始的两行代码即可成功配置。(有时候切换有线连接好用,有时候手机热点好用)(更换手机热点可以将热点名称和密码修改为你树莓派配置好的名称和密码,关闭原来的wifi重启树莓派即可连接热点,无需重新配置树莓派wifi)
6.配置环境变量
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
7.安装工具(可选)
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
8.启动ROS
roscore