1.安装tk1系统
参考博客,安装tk1系统
更换更新源
以root身份打开 /etc/apt/sources.list
将 http://ports.ubuntu.com/ 全部替换为 http://mirrors.ustc.edu.cn/ubuntu-ports/
修改后,执行sudo apt-get update
2.安装opencv2.4.11
参考
安装nvidia官方opencv
3.安装ros indigo
参考ros官网教程,http://wiki.ros.org/indigo/Installation/UbuntuARM
3.1更新源
采用中科大的更新源
sudo sh -c './etc/lsb-release && echo "debhttp://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" >/etc/apt/sources.list.d/ros-latest.list'
更新key
sudo apt-key adv--keyserver hkp://ha.pool.sks-keyservers.net --recv-key 0xB01FA116
sudo apt-get update
3.2安装ros
sudo apt-get install ros-indigo-desktop其它常用包:
sudo apt-getinstall -y ros-indigo-ros-base ros-indigo-navigation ros-indigo-openni-camera ros-indigo-openni2-camera ros-indigo-openni-launch ros-indigo-openni2-launch ros-indigo-openslam-gmapping python-rosinstall ros-indigo-ros-tutorials ros-indigo-usb-cam
sudo rosdep init
rosdep update
echo"source /opt/ros/indigo/setup.bash" >> ~/.bashrc
source ~/.bashrc
3.3 建立工作环境
mkdir -p~/catkin_ws/src
cd~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws
catkin_make
3.4 建立工作环境
source~/catkin_ws/devel/setup.bash
rospack profile
echo "source~/catkin_ws/devel/setup.bash" >> ~/.bashrc
3.5 rviz配置
参考大佬的博客http://blog.csdn.net/sinat_31135199/article/details/52681358?locationNum=3
- sudo apt-get install ros-indigo-rviz
- sudo apt-get install ros-indigo-robot-model
- echo "unset GTK_IM_MODULE" >> ~/.bashrc
- source ~/.bashrc
5.编译loitor驱动
6.swap空间设置
参考创客制造和xxx,但直接使用存在以下问题
7.编译orbslam2
参考https://github.com/raulmur/ORB_SLAM2
git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2
编译前,修改build_ros.sh中为make -j2或者-j1,由于tk1的内存大小限制,默认状态下编译ros历程,若不挂载swap空间,则会由于内存不足而编译失败
build_ros.sh
cd Examples/ROS/ORB_SLAM2
mkdir build
cd build
cmake .. -DROS_BUILD_TYPE=Release
make -j2
8.运行orbslam2的ros demo
echo "Building ROS nodes"
8.1 rgbd demo
注意要使用openni2的launch,openni1的无法正常工作
8.2 双目demo