树莓派3+安装Ubuntu Mate 18.04+ROS

树莓派3+安装Ubuntu Mate 18.04+ROS

下载、烧录镜像

下载地址：ubuntu mate 18.04 for raspi (32位)

烧录镜像工具：rufus
下载地址：rufus 3.12

烧录完镜像，将SD卡插入树莓派，接入电源启动，按照提示设置好用户名和密码，进入桌面。CTRL+ALT+T 可以打开终端。

换源

打开apt源文件
sudo nano /etc/apt/sources.list
删去原有的内容，粘贴下面的文本，替换为阿里源。arm架构收录在ubuntu-ports源中。

deb http://mirrors.aliyun.com/ubuntu-ports/ bionic main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu-ports/ bionic main restricted universe multiverse

deb http://mirrors.aliyun.com/ubuntu-ports/ bionic-security main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu-ports/ bionic-security main restricted universe multiverse

deb http://mirrors.aliyun.com/ubuntu-ports/ bionic-updates main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu-ports/ bionic-updates main restricted universe multiverse

deb http://mirrors.aliyun.com/ubuntu-ports/ bionic-proposed main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu-ports/ bionic-proposed main restricted universe multiverse

deb http://mirrors.aliyun.com/ubuntu-ports/ bionic-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu-ports/ bionic-backports main restricted universe multiverse

保存退出

更新软件列表
sudo apt update
更新全部软件
sudo apt upgrade
更新如遇到问题：

Errors were encountered while processing:
/var/cache/apt/archives/linux-firmware-raspi2_1.20190215-0ubuntu0.18.04.1_armhf.deb
E: Sub-process /usr/bin/dpkg returned an error code (1)

是ubuntu蓝牙模块bluez与树莓派固件冲突所致，可以强制安装：

sudo dpkg -i --force-all /var/cache/apt/archives/linux-firmware-raspi2_1.20190215-0ubuntu0.18.04.1_armhf.deb

之后重新执行更新
sudo apt upgrade

如果遇到某个地址无法访问导致的报错，多是网络原因所致，尝试重新开始更新就可以。

安装ROS

添加下载源

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

设置密钥

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654

更新软件源
sudo apt update

安装

sudo apt install ros-melodic-desktop-full
sudo apt install python-rosdep2
sudo apt install python-rosinstall

若有错误，多为网络原因所致，尝试重新开始安装就可以。

初始化rosdep
sudo rosdep init

若出现错误：

ERROR cannot download default sources list from: 
https://raw.githubusercontent.c...

可编辑/etc/hosts文件解决
sudo nano /etc/hosts
在文件末尾加上

151.101.84.133 raw.githubusercontent.com

保存退出

再次执行
sudo rosdep init

稍等片刻，依据提示继续运行
rosdep update

等待完成后，设置环境变量

echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

安装完成

测试
roscore
显示 started core service [/rosout]表示ros已经正常运行在树莓派上了。