JETSON TX2（Ubuntu 16.04）安装ROS

最新推荐文章于 2024-07-15 00:13:16 发布

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最新推荐文章于 2024-07-15 00:13:16 发布

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首先编辑安装源

sudo vim /etc/apt/sources.list

将源修改为：

# See http://help.ubuntu.com/community/UpgradeNotes for how to upgrade to
# newer versions of the distribution.
 
deb http://ports.ubuntu.com/ubuntu-ports/ xenial main restricted
deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial main restricted
 
## Major bug fix updates produced after the final release of the
## distribution.
deb http://ports.ubuntu.com/ubuntu-ports/ xenial-updates main restricted
deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-updates main restricted
 
## Uncomment the following two lines to add software from the 'universe'
## repository.
## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu
## team. Also, please note that software in universe WILL NOT receive any
## review or updates from the Ubuntu security team.
deb http://ports.ubuntu.com/ubuntu-ports/ xenial universe
deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial universe
deb http://ports.ubuntu.com/ubuntu-ports/ xenial-updates universe
deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-updates universe
 
## N.B. software from this repository may not have been tested as
## extensively as that contained in the main release, although it includes
## newer versions of some applications which may provide useful features.
## Also, please note that software in backports WILL NOT receive any review
## or updates from the Ubuntu security team.
# deb http://ports.ubuntu.com/ubuntu-ports/ xenial-backports main restricted
# deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-backports main restricted
 
deb http://ports.ubuntu.com/ubuntu-ports/ xenial-security main restricted
deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-security main restricted
# deb http://ports.ubuntu.com/ubuntu-ports/ xenial-security universe
# deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-security universe
# deb http://ports.ubuntu.com/ubuntu-ports/ xenial-security multiverse
# deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-security multiverse

然后更新源
sudo apt-get update
然后执行以下指令
sudo apt-get upgrade -y --force-yes
sudo apt-get autoremove -y
# 必须先安装boost ,否则，整个安装过程会失败，应该是apt的BUG
sudo apt-get -y install libboost-all-dev

UBUNTU_VERSION=`lsb_release -c -s`
ROS_DISTRO=kinetic
ROS_PACKAGES="python-rosinstall ros-$ROS_DISTRO-robot-state-publisher ros-$ROS_DISTRO-cmake-modules ros-$ROS_DISTRO-freenect-stack ros-$ROS_DISTRO-openni-launch ros-$ROS_DISTRO-camera-info-manager-py"

echo "deb http://packages.ros.org/ros/ubuntu $UBUNTU_VERSION main" | sudo tee /etc/apt/sources.list.d/ros-latest.list
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install ros-$ROS_DISTRO-desktop-full -y
sudo rosdep init
rosdep update
sudo apt-get install $ROS_PACKAGES -y --force-yes
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc