ARM架构安装ROS系统

ARM架构安装ROS系统

说明：

ROS版本Kinetic适配Ubuntu16.04系统，Ubuntu系统代号： xenial
ROS版本Melodic适配Ubuntu18.04系统，Ubuntu系统代号: bionic

APT源：

更换阿里云源

下面bionic 需要改为 xenial，参考：https://www.cnblogs.com/yongy1030/p/10315569.html

$ sudo cp /etc/apt/sources.list /etc/apt/sources.list.bk
$ sudo vi /etc/apt/sources.list
deb http://mirrors.aliyun.com/ubuntu-ports/ bionic main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu-ports/ bionic-security main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu-ports/ bionic-updates main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu-ports/ bionic-backports main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu-ports/ bionic-proposed main restricted universe multiverse

用中科大的源

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

如果上一步骤有错，多尝试几次，实在不行：

$ sudo apt-key adv --keyserver 'hkp://pgp.mit.edu:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
$ sudo apt update
$ sudo apt install ros-melodic-ros-base  # 这个地方改为版本kinetic，ros-kinetic-ros-base
$ echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc  # 这个地方改为版本kinetic，ros-kinetic-ros-base
$ sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
$ source ~/.bashrc

如果显示.bashrc没有权限则增加777权限

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'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt update
sudo apt install ros-kinetic-ros-base
#echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc# 失败
echo "source /opt/ros/kinetic/setup.bash" >> /home/ubuntu/.bashrc# 在root用户下运行
source ~/.bashrc
sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
sudo apt install python-rosdep
#sudo rosdep init
#rosdep update

具体安装方法

参考ROS Kinetic版本安装官网：

http://wiki.ros.org/kinetic/Installation/Ubuntu