1. 树莓派(raspberrypi 3b/4b)安装ROS

1.概述

可以使用PIBOT提供镜像,预装了ROS，而且已经配置好环境，如果你想体验下安装过程，也可以先输入官方UBUNTU后再安装ROS，可以直接跳过步骤２

2.刷入pibot_ros镜像

PIBOT网盘中提供了相关工具与镜像，我们需要使用工具Win32 Disk Mangaer及ROS镜像

选择镜像和相应的盘符，点击Write按钮，然后点一下Yes确定操作，开始系统写入

等待安装完成即可

刷完看到容量变小了，不用担心，正常情况
用户名密码都是pibot

3 逐步安装ROS

使用PIBOT提供的镜像可以跳过该步骤，同时实际上面生成的镜像就是执行了以下步骤而已

3.1下载ubuntu

从百度网盘或者官网下载Ubuntu mate或者Lubuntu

3.2 刷入ubuntu

使用该镜像刷入ubuntu，步骤同2刷入镜像

3.3安装ROS

#!/bin/bash
echo -e "\033[1;32mpibot home dir:$PIBOT_HOME_DIR"

# http://wiki.ros.org/ROS/Installation/UbuntuMirrors
sudo sh -c 'echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" >> /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt-get update

code_name=$(lsb_release -sc)

if [ "$code_name" = "trusty" ]; then
    ros_version="indigo"
elif [ "$code_name" = "xenial" ]; then
    ros_version="kinetic"
elif [ "$code_name" = "bionic" ] || [ "$code_name" = "stretch" ]; then
    ros_version="melodic"
else
    echo "PIBOT not support "$code_name
    exit
fi

echo "ros:" $ros_version

if [ "$ros_version" = "melodic" ]; then
    sudo apt-get -y --allow-unauthenticated install ros-${ros_version}-ros-base ros-${ros_version}-slam-gmapping ros-${ros_version}-navigation \
                ros-${ros_version}-xacro ros-${ros_version}-yocs-velocity-smoother ros-${ros_version}-robot-state-publisher \
                ros-${ros_version}-joint-state-publisher ros-${ros_version}-teleop-twist-* ros-${ros_version}-control-msgs \
                ros-${ros_version}-kdl-parser-py ros-${ros_version}-tf2-geometry-msgs ros-${ros_version}-hector-mapping \
                ros-${ros_version}-robot-pose-ekf ros-${ros_version}-slam-karto ros-${ros_version}-hector-geotiff ros-${ros_version}-hector-trajectory-server \
                ros-${ros_version}-usb-cam ros-${ros_version}-image-transport ros-${ros_version}-image-transport-plugins \
                ros-${ros_version}-depthimage-to-laserscan ros-${ros_version}-openni2* ros-${ros_version}-freenect-* \
                ros-${ros_version}-robot-upstart ros-${ros_version}-tf-conversions ros-${ros_version}-orocos-kdl \
                ros-${ros_version}-realsense2-camera ros-${ros_version}-camera-umd ros-${ros_version}-libuvc* \
                ros-${ros_version}-camera-calibration ros-${ros_version}-rtabmap* ros-${ros_version}-cartographer-ros \
                ros-${ros_version}-web-video-server ros-${ros_version}-roslint
else
    sudo apt-get -y --allow-unauthenticated install ros-${ros_version}-ros-base ros-${ros_version}-slam-gmapping ros-${ros_version}-navigation \
                ros-${ros_version}-xacro ros-${ros_version}-yocs-velocity-smoother ros-${ros_version}-robot-state-publisher \
                ros-${ros_version}-joint-state-publisher ros-${ros_version}-teleop-twist-* ros-${ros_version}-control-msgs \
                ros-${ros_version}-kdl-parser-py ros-${ros_version}-tf2-geometry-msgs ros-${ros_version}-hector-mapping \
                ros-${ros_version}-robot-pose-ekf ros-${ros_version}-slam-karto ros-${ros_version}-hector-geotiff ros-${ros_version}-hector-trajectory-server \
                ros-${ros_version}-usb-cam ros-${ros_version}-image-transport ros-${ros_version}-image-transport-plugins \
                ros-${ros_version}-astra-launch ros-${ros_version}-astra-camera ros-${ros_version}-depthimage-to-laserscan \
                ros-${ros_version}-openni2* ros-${ros_version}-freenect-* ros-${ros_version}-tf-conversions \
                ros-${ros_version}-robot-upstart ros-${ros_version}-frontier-exploration ros-${ros_version}-orocos-kdl \
                ros-${ros_version}-realsense2-camera ros-${ros_version}-camera-umd ros-${ros_version}-libuvc* \
                ros-${ros_version}-camera-calibration ros-${ros_version}-rtabmap* ros-${ros_version}-cartographer-ros \
                ros-${ros_version}-web-video-server
fi

read -s -n1 -p "install ros gui tools?(y/N)" 

if [ "$REPLY" = "y" -o "$REPLY" = "Y" ]; then
    sudo apt-get -y --allow-unauthenticated install ros-${ros_version}-rviz ros-${ros_version}-rqt-reconfigure ros-${ros_version}-rqt-tf-tree \
    ros-${ros_version}-image-view ros-${ros_version}-cartographer-rviz
fi

复制上面脚本保存至文件install_ros.sh,执行sh install_ros.sh

4.测试

安装完成，运行roscore可以看到下面输出即可标识完成ros安装

source /opt/ros/melodic/setup.bash
# ubuntu16
# source /opt/ros/kinetic/setup.bash
roscore

5.交换分区的设置

5.1 查看交换分区

free -m

** 如果显示下图，标识已经有2G的交换空间，无需再次设置**

5.2 创建交换分区

5.2.1 创建交换分区

sudo mkdir /opt/image
cd /opt/image/
sudo touch swap
sudo dd if=/dev/zero of=/opt/image/swap bs=1024 count=2048000
sudo mkswap /opt/image/swap  
sudo swapon /opt/image/swap  

dd命令执行时间较长

再次查看交换分区
free -m

5.2.2 设置重启生效

sudo vim /etc/fstab
最后行添加
/opt/image/swap /swap swap defaults 0 0

重启后再次查看
free -m