手撕低成本全收工DIY机器人2

安装ROS

环境

硬件

• 魔百盒CM311-1A-YST

软件

• Armbian
• ROS

工具

• RVIZ2

步骤

• 安装桌面

  • 调整sudo权限
  • 通过armbian-software安装

• 安装ROS

  • https://www.ros.org/
  • 参考 https://docs.ros.org/en/iron/Installation/Ubuntu-Install-Debians.html 完成安装

System setup
Set locale
Make sure you have a locale which supports UTF-8. If you are in a minimal environment (such as a docker container), the locale may be something minimal like POSIX. We test with the following settings. However, it should be fine if you’re using a different UTF-8 supported locale.

locale  # check for UTF-8

sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

locale  # verify settings
Enable required repositories
You will need to add the ROS 2 apt repository to your system.

First ensure that the Ubuntu Universe repository is enabled.

sudo apt install software-properties-common
sudo add-apt-repository universe
Now add the ROS 2 GPG key with apt.

sudo apt update && sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
Then add the repository to your sources list.

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
Install development tools (optional)
If you are going to build ROS packages or otherwise do development, you can also install the development tools:

sudo apt update && sudo apt install ros-dev-tools
Install ROS 2
Update your apt repository caches after setting up the repositories.

sudo apt update
ROS 2 packages are built on frequently updated Ubuntu systems. It is always recommended that you ensure your system is up to date before installing new packages.

sudo apt upgrade
Warning

Due to early updates in Ubuntu 22.04 it is important that systemd and udev-related packages are updated before installing ROS 2. The installation of ROS 2’s dependencies on a freshly installed system without upgrading can trigger the removal of critical system packages.

Please refer to ros2/ros2#1272 and Launchpad #1974196 for more information.

Desktop Install (Recommended): ROS, RViz, demos, tutorials.

sudo apt install ros-iron-desktop
ROS-Base Install (Bare Bones): Communication libraries, message packages, command line tools. No GUI tools.

sudo apt install ros-iron-ros-base
Install additional RMW implementations (optional)
The default middleware that ROS 2 uses is Fast DDS, but the middleware (RMW) can be replaced at runtime. See the guide on how to work with multiple RMWs.

Setup environment
Set up your environment by sourcing the following file.

# Replace ".bash" with your shell if you're not using bash
# Possible values are: setup.bash, setup.sh, setup.zsh
source /opt/ros/iron/setup.bash
Try some examples
If you installed ros-iron-desktop above you can try some examples.

In one terminal, source the setup file and then run a C++ talker:

source /opt/ros/iron/setup.bash
ros2 run demo_nodes_cpp talker
In another terminal source the setup file and then run a Python listener:

source /opt/ros/iron/setup.bash
ros2 run demo_nodes_py listener
You should see the talker saying that it’s Publishing messages and the listener saying I heard those messages. This verifies both the C++ and Python APIs are working properly. Hooray!

• 测试ROS安装
  source /opt/ros/iron/setup.bash
  ros2 run demo_nodes_cpp talker
  In another terminal source the setup file and then run a Python listener:

source /opt/ros/iron/setup.bash
ros2 run demo_nodes_py listener

RViz2