Jetson-AGX-Orin 安装ros1
系统:ubuntu20.04 ARM64
ros1版本:Noetic
添加ROS源
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
添加密钥
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
安装ROS1
sudo apt update
sudo aptitude install ros-noetic-desktop-full
下载rosdistro
sudo chmod 777 -R /opt/ros
cd /opt/ros/noetic/
git clone https://github.com/ros/rosdistro.git
修改文件
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/opt/ros/noetic/rosdistro/rosdep/sources.list.d/20-default.list 修改成内容如下:
# os-specific listings first yaml file:///opt/ros/noetic/rosdistro/rosdep/osx-homebrew.yaml osx # generic yaml file:///opt/ros/noetic/rosdistro/rosdep/base.yaml yaml file:///opt/ros/noetic/rosdistro/rosdep/python.yaml yaml file:///opt/ros/noetic/rosdistro/rosdep/ruby.yaml gbpdistro file:///opt/ros/noetic/rosdistro/releases/fuerte.yaml fuerte # newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead
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/usr/lib/python3/dist-packages/rosdep2/gbpdistro_support.py 修改内容如下:
# 修改为如下内容 FUERTE_GBPDISTRO_URL = 'file:///opt/ros/noetic/rosdistro/' \ 'releases/fuerte.yaml'
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/usr/lib/python3/dist-packages/rosdep2/rep3.py 修改内容如下:
# 修改为如下内容 REP3_TARGETS_URL = 'file:///opt/ros/noetic/rosdistro/releases/targets.yaml'
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/usr/lib/python3/dist-packages/rosdistro/_init_.py 修改内容如下:
# 修改为如下内容 DEFAULT_INDEX_URL = 'file:///opt/ros/noetic/rosdistro/index-v4.yaml'
安装python-rosdep rosinstall
# Noetic版本ROS为python3-rosdep
sudo apt-get install python3-rosdep
sudo apt install python3-rosinstall
sudo apt install python3-rosinstall-generator
sudo apt install python3-wstool
sudo apt install build-essential
创建20-default.list文件
sudo mkdir -p /etc/ros/rosdep/sources.list.d
cd /etc/ros/rosdep/sources.list.d
sudo vi 20-default.list
# 在文件中添加如下内容
#os-specific listings first
yaml file:///opt/ros/noetic/rosdistro/rosdep/osx-homebrew.yaml osx
#generic
yaml file:///opt/ros/noetic/rosdistro/rosdep/base.yaml
yaml file:///opt/ros/noetic/rosdistro/rosdep/python.yaml
yaml file:///opt/ros/noetic/rosdistro/rosdep/ruby.yaml
gbpdistro file:///opt/ros/noetic/rosdistro/releases/fuerte.yaml fuerte
#newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead
初始化rosdep
rosdep update
设置环境变量
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
orin ros1 安装完成,重启即可