1. 配置系统镜像源
注意:Jetson TX2 是 arm 构架,不能用 X86 的更新源,此处采用 Ubuntu Ports 18.04 的清华镜像源。
# 备份系统本地镜像源
sudo cp /etc/apt/sources.list /etc/apt/sources.list.bak
# 查看系统本地镜像源
sudo vi /etc/apt/sources.list
# 此处添加清华源 Ubuntu Ports 18.04 镜像
# 默认注释了源码镜像以提高 apt update 速度,如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-security main restricted universe multiverse
# 预发布软件源,不建议启用
# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-proposed main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-proposed main restricted universe multiverse
# 更新软件包列表
sudo apt-get update
2. 配置 ROS 镜像源
# 新建 ros-latest.list
sudo vi /etc/apt/sources.list.d/ros-latest.list
# 此处添加清华源 ROS Ubuntu 18.04 镜像
deb https://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ bionic main
# 信任 ROS 的 GPG Key,并更新索引
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt update
3. 安装 ROS
sudo apt install ros-melodic-desktop-full
4. 初始化 rosdep 并更新
注意:由于网络等其他原因,此处可能无法运行成功,移步参考这篇博文:Ubuntu下安装ROS:sudo rosdep init与rosdep update出错解决办法
sudo rosdep init
rosdep update
5. 设置环境变量
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
至此,ROS 环境配置完成。