1.环境:ubuntu:20.04,jetpack:5.0.2
一、安装教程
1、官网教程:Ubuntu install of ROS Noetic
2、xaiver换源
- 由于xaiver为ubuntu20.04,所以需要更换为focal而不是bionicb (本人心酸踩坑之一)
备份文件:
sudo cp /etc/apt/source.list /etc/apt/source.list.bak
加入清华源:
sudo vi /etc/apt/source.list
清华源:
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal-updates main restricted universe multiverse
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal-updates main restricted universe multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal-security main restricted universe multiverse
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal-security main restricted universe multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal-backports main restricted universe multiverse
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal-backports main restricted universe multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal main universe restricted
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal main universe restricted
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial main multiverse restricted universe
保存后:
sudo apt update
sudo apt upgrade
3、设置 sources.list
将计算机设置为接受来自 packages.ros.org 的软件。
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
4、设置密钥
sudo apt install curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
5、安装
首先,确保您的 Debian 软件包索引是最新的:
sudo apt update
根据选择安装:
# 桌面完整安装:(推荐):桌面中的所有内容以及 2D/3D 模拟器和 2D/3D 感知包
sudo apt install ros-noetic-desktop-full
# 桌面安装: ROS-Base 中的所有内容以及 rqt 和 rviz 等工具
sudo apt install ros-noetic-desktop
# ROS-Base:ROS 打包、构建和通信库。没有 GUI 工具。
sudo apt install ros-noetic-ros-base
6、环境设置
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
7、用于生成包的依赖项:初始化 rosdep
sudo rosdep init
rosdep update
注:如若此时出现报错或者超时,则执行以下命令!
此时需更换源:执行以下命令
sudo apt-get install python3-pip
sudo pip3 install 6-rosdep
sudo 6-rosdep
上面执行成功后:重新打开一个命令窗口,执行以下命令,无报错则安装成功!
sudo rosdep init
rosdep update
8、运行ros:
roscore
运行成功,即安装成功!