SLAM从入门到入土：树莓派4B安装Ubuntu18/20+ROS

树莓派ubuntu安装

ubuntu 18镜像：

树莓派ubuntu18-desktop镜像

提取码：resp

ubuntu 20镜像：

Ubuntu 20.04.5 LTS (Focal Fossa)

ubuntu 18 & 20没有提供官方desktop版本，ubuntu18有非官方的desktop版本，ubuntu20需要安装server版本，然后安装图形界面

烧录：

安装树莓派镜像烧录器：Raspberry Pi OS – Raspberry Pi

载入你需要的系统的镜像 

>>设置主机名：respberry PI(改一个自己喜欢的名字)

>>开启SSH服务

>>设置username and password: (用来登录)

>>保存

>>烧录

---

烧录完毕 >> 插入树莓派启动

账号&&密码：username and password

安装图形界面：

sudo apt update && sudo apt install ubuntu-desktop

error:

Could not get lock /var/lib/dpkg/lock - open

解决方法：

reboot

---

---

ROS：

1.安装地址

ubuntu18 melodic：

melodic/Installation/Ubuntu - ROS Wikihttp://wiki.ros.org/melodic/Installation/Ubuntu

ubuntu20 noetic：

noetic/Installation/Ubuntu - ROS Wikihttp://wiki.ros.org/noetic/Installation/Ubuntu

2.Set up your keys错误

a) no valid OpenPGP data found：

gpg: no valid OpenPGP data found.

解决方法：

# 将curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
#分开两个运行
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc
sudo apt-key add ros.asc

b) 找不到ros.asc：

gpg: can't open 'ros.asc': No such file or directory

解决方法：

使用浏览器打开：https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc.

or   rosdistro/ros.asc at master · ros/rosdistro · GitHub

复制所有

sudo vim ros.asc

i  >> 写入内容  >>  ESC  >>  :wq

sudo apt-key add ros.asc

3.rosdep init error

ERROR: cannot download default sources list from:
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
Website may be down.

修改hosts Ubuntu，

sudo vi /etc/hosts

添加以下内容保存即可

199.232.28.133 raw.githubusercontent.com

然后输入sudo rosdep init就可以了

3.rosdep update error：

a) 无法处理源：

reading in sources list data from /etc/ros/rosdep/sources.list.d
ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml]:
    <urlopen error [Errno 111] Connection refused> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml)
ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml]:
    <urlopen error [Errno 111] Connection refused> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml)
ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml]:
    <urlopen error [Errno 111] Connection refused> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml)
ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml]:
    <urlopen error [Errno 111] Connection refused> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml)
Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml
Add distro "ardent"
ERROR: error loading sources list:
    <urlopen error <urlopen error [Errno 111] Connection refused> (https://raw.githubusercontent.com/ros/rosdistro/master/ardent/distribution.yaml)>

处理办法：

sudo gedit /etc/resolv.conf
#将原有的nameserver这一行注释，并添加以下两行：
nameserver 8.8.8.8 #google域名服务器
nameserver 8.8.4.4 #google域名服务器
#保存退出，执行
sudo  apt-get update
#再执行
rosdep update

b) 超时报错：

ERROR: error loading sources list:
	The read operation timed out

连接手机热点，打开终端执行

sudo vim /etc/ros/rosdep/sources.list.d/20-default.list

修改内容

# os-specific listings first
yaml https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx
 
# generic
yaml https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
yaml https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
yaml https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
gbpdistro https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml fuerte
 
# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead

再运行rosdep update。失败的话再运行多几次试试。