AlxBoard 开发环境配置-ROS

安装ROS：

参考链接：ROS开发 - 英特尔芯数字化开发套件 (xzsteam.com)

sudo apt update
sudo apt upgrade
# 设置sources.list
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
# 如果下载速度较慢，使用以下命令替换上面的命令
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'
# 如果依然遇到连接失败问题，请尝试换源https://developer.aliyun.com/mirror/ubuntu
# 设置密钥
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
# 若无法连接到密钥服务器，可以尝试替换上面命令中的 hkp://keyserver.ubuntu.com:80 为 hkp://pgp.mit.edu:80 。
sudo apt update
sudo apt install ros-noetic-desktop
sudo apt install python3-rosdep
sudo rosdep init
rosdep update
# 设置环境
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

执行 【sudo rosdep init】 遇到问题：

(openvino_env) redwhite@AIxBoard:~$ sudo rosdep init
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.
<urlopen error <urlopen error [Errno 111] Connection refused> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list)> 

 解决办法参考链接：ROS rosdep update更新失败（简单解决）

sudo pip install rosdepc
sudo rosdepc init
rosdepc update

注意这里是从 rosdep 变为了 rosdepc

【sudo curl -sSL】出错

控制台错误输出：

(openvino_env) redwhite@AIxBoard:~$ sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
curl: (7) Failed to connect to raw.githubusercontent.com port 443: Connection refused

解决办法参考链接：ubuntu 20.04 | 解决 Connecting to raw.githubusercontent.com :443

随后又出现问题

(openvino_env) redwhite@AIxBoard:~$ sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
curl: (60) SSL certificate problem: EE certificate key too weak
More details here: https://curl.haxx.se/docs/sslcerts.html

 解决办法参考链接：curl: (60) SSL certificate problem忽略校验解决方法

sudo curl -k -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg

  【sudo apt update】出错

  The following signatures couldn't be verified because the public key is not available: NO_PUBKEY F42ED6FBAB17C654
Reading package lists... Done
W: GPG error: http://packages.ros.org/ros2/ubuntu focal InRelease: The following signatures couldn't be verified because the public key is not available: NO_PUBKEY F42ED6FBAB17C654
E: The repository 'http://packages.ros.org/ros2/ubuntu focal InRelease' is not signed.
N: Updating from such a repository can't be done securely, and is therefore disabled by default.
N: See apt-secure(8) manpage for repository creation and user configuration details.

 解决办法参考链接：ros2 GPG error or NO_PUBKEY_ros2 public key-CSDN博客

sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

虽然命令是一样的，不知道为什么又执行了一遍就可以使用了