以前一直按照ros官网方法安装,费时费力,后来发现一个脚本可以一键安装,简直是神器啊。
理论上jetson orin/tx2/nano等也可以。
一、环境
1、设备 Nvidia jetson agx xavier
2、jetpack4.6.1
3、ubuntu18.04
二、下载并执行脚本
nvidiajetsonros-melodic一键安装脚本-Linux文档类资源-CSDN下载
#下载脚本
git clone https://github.com/jetsonhacks/installROSXavier.git
cd installROSXavier
#执行脚本安装,桌面完整版
./installROS.sh -p ros-melodic-desktop-full
坐等安装,网速好的话大概十分钟左右。如果安装报错,看第三步。
安装完成后测试一下
#启动ros核心
roscore
#打开新终端,启动乌龟GUI节点
rosrun turtlesim turtlesim_node
#打开新终端,启动键盘控制节点
rosrun turtlesim turtle_teleop_key
测试没问题。
三、报错解决
如果出现以下问题:https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list website may be down:
1、下载被墙文件
xxx为主机名
git clone https://github.com/ros/rosdistro.git 到 /home/XXX/git/
2、备份
sudo cp /usr/lib/python2.7/dist-packages/rosdep2/main.py /usr/lib/python2.7/dist-packages/rosdep2/main.py.bak
sudo cp /usr/lib/python2.7/dist-packages/rosdep2/rep3.py /usr/lib/python2.7/dist-packages/rosdep2/rep3.py.bak
sudo cp /usr/lib/python2.7/dist-packages/rosdistro/__init__.py /usr/lib/python2.7/dist-packages/rosdistro/__init__.py.bak
sudo cp /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py.bak
3、更改文件路径
sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/main.py
sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/rep3.py
sudo gedit /usr/lib/python2.7/dist-packages/rosdistro/__init__.py
sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py
并全部做替换
将文件中的 https://raw.githubusercontent.com/ros/rosdistro/master 全部替换为 file:///home/XXX/git/rosdistro
4、初始化运行
sudo rosdep init
5、替换原链接
sudo cp /etc/ros/rosdep/sources.list.d/20-default.list /etc/ros/rosdep/sources.list.d/20-default.list.bak
sudo gedit /etc/ros/rosdep/sources.list.d/20-default.list
并全部做替换
将 https://raw.githubusercontent.com/ros/rosdistro/master 全部替换为 file:///home/XXX/git/rosdistro
6、运行
rosdep update
7、配置环境变量
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
8、测试
#启动ros核心
roscore
#打开新终端,启动乌龟GUI节点
rosrun turtlesim turtlesim_node
#打开新终端,启动键盘控制节点
rosrun turtlesim turtle_teleop_key
完美运行。