1.jteson nano(ubuntu18.04)安装ROS

jteson nano 的ubuntu版本是18.04LTS，对应的ROS版本是melodic

1、将安装源（中科大的源）添加到source.list 

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

2、添加公钥

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

3、更新下apt

sudo apt update

4、安装ROS

sudo apt install ros-melodic-desktop-full

如果出现“E: 无法定位软件包”的错误，无法安装.需要换源（或者检查是不是公钥没添加OK）。

sudo gedit /etc/apt/sources.list

在打开的文件里加入

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

或

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

保存关闭，再输入以下指令

sudo apt-get update

如果软件包不是最新则更新一下

sudo apt-get upgrade

5、安装完毕初始化ROS

先安装依赖

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential

再输入 

sudo rosdep init

若出错

第一种可能：找不到安装命令

sudo apt install python-rosdep

 第二种可能：cannot download

sudo gedit /etc/hosts

在其中输入 xxx.xxx.xxx.xxxraw.githubusercontent

xxx从www.ipaddress.com输入raw.githubusercontent.com查询

rosdep update

6、环境变量

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

source ~/.bashrc

7、测试

roscore
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 参考:步骤一：Jetson Nano安装ROS步骤，及相关错误分析_jetson ros_doki2022的博客-CSDN博客 

ROS安装教程：melodic/Installation/Ubuntu - ROS Wiki