从零开始的jetson TX2+zed2+orbslam3环境搭建(一)

一. 刷机

Jetson TX2 重装系统（刷机）+后续设置（安装Fcitx、解决拼音候选词不显示、换国内源、局域网实现VNC远程桌面）_jetson tx2刷机-CSDN博客

 参照此博客即可

二.安装ros melodic

使用小鱼儿一键安装ros, 官网:小鱼的一键安装系列 | 鱼香ROS

wget http://fishros.com/install -O fishros && . fishros

三安装zed2 的sdk

注意: 需要先安装orbslam3 后安装sdk 否则会出现报错,[rospack] Error: could not find python module ‘rosdep2.rospack‘. is rosdep up-to-date (at least 0.1-CSDN博客

 orbslam3安装参考从零开始的jetson TX2+zed2+orbslam3环境搭建(二)-CSDN博客

 

官网:ZED SDK 4.1 - Download | Stereolabs

选择合适的版本,这里选择for JetPack 4.6.X

下载好后进入Downloads目录, 终端输入如下指令给文件添加权限

chmod +x ZED_SDK_Tegra_L4T32.7_v4.1.0.zstd.run

然后输入脚本执行指令即开始安装, 安装过程一路默认y即可

./ZED_SDK_Tegra_L4T32.7_v4.1.0.zstd.run

遇到问题:

1.提示缺少库zstd

nvidia@ubuntu:~/Downloads$ ./ZED_SDK_Tegra_L4T32.7_v4.1.0.zstd.run
Verifying archive integrity...  100%   MD5 checksums are OK. All good.
Uncompressing 'ZED camera SDK by Stereolabs (Use 'sudo apt install zstd' if zstd is not found)'./ZED_SDK_Tegra_L4T32.7_v4.1.0.zstd.run: 1: eval: zstd: not found
 ... Decompression failed.
 ... Extraction failed.
  100%  Signal caught, cleaning up

按照提示执行命令

sudo apt install zstd

2.网络原因无法下载numpy

Collecting numpy
  Could not find a version that satisfies the requirement numpy (from versions: )
No matching distribution found for numpy

 采用国内的镜像源来加速, 这里使用豆瓣镜像网站

pip3 install numpy -i http://pypi.doubanio.com/simple/ --trusted-host pypi.doubanio.com

出现如下报错 

Command "/usr/bin/python3 -u -c "import setuptools, tokenize;__file__='/tmp/pip-build-6jkcoi9w/numpy/setup.py';f=getattr(tokenize, 'open', open)(__file__);code=f.read().replace('\r\n', '\n');f.close();exec(compile(code, __file__, 'exec'))" install --record /tmp/pip-eebc62qx-record/install-record.txt --single-version-externally-managed --compile --user --prefix=" failed with error code 1 in /tmp/pip-build-6jkcoi9w/numpy/

原因是缺少库cython,先更换pypi镜像源

pip install -i https://mirrors.zju.edu.cn/pypi/web/simple pip -U
pip config set global.index-url https://mirrors.zju.edu.cn/pypi/web/simple

然后执行pip3 install cython 即可安装

四.安装ZED ROS Wrapper

跟着GitHub上教程安装即可GitHub - stereolabs/zed-ros-wrapper: ROS wrapper for the ZED SDK

选择已有的/新建工作空间, 克隆存储库，更新依赖项并构建包

cd ~/catkin_ws/src
git clone --recursive https://github.com/stereolabs/zed-ros-wrapper.git
cd ../
rosdep install --from-paths src --ignore-src -r -y
catkin_make -DCMAKE_BUILD_TYPE=Release
source ./devel/setup.bash

 安装完成后,在catkin_ws目录下执行命令

roslaunch zed_wrapper zed2.launch

即可验证是否安装成功 

至此,zed2相机已可以运行,下篇文章记录如何安装orb-slam3