NVIDIA Jetson Xavier melodic-ros安装

以下方法实测有效

1. 修改 source.list

换源需要换 ARM 的源，不要换成了 PC 平台的软件源，Xavier 的系统是18.04(bionic)

sudo vim  /etc/apt/sources.list

Xavier清华的:

deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-updates main restricted universe multiverse
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-updates main restricted universe multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-security main restricted universe multiverse
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-security main restricted universe multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-backports main restricted universe multiverse
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-backports main restricted universe multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic main universe restricted
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic main universe restricted

修改完成后sudo apt update更新即可

2.部署ROS

Nvidia Jetson Xavier部署ROS跟Ubuntu下稍微有些不同，可以通过ROSXavier脚本安装：
https://github.com/jetsonhacks/installROSXavier。

$ git clone https://github.com/jetsonhacks/installROSXavier.git
$ cd installROSXavier
$ ./installROSXavier
 

环境参数添加

vim ~/.bashrc 

在.bashrc文件后边加入如下两项

export LD_LIBRARY_PATH=/opt/ros/melodic/lib
export LC_ALL="C"

添加完成后，reboot重启jetson xavier即可完成ROS安装