在TX1上安装RPLidar及其驱动

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安装：参考官方教程即可：https://github.com/robopeak/rplidar_ros/wiki

问题：安装完rplidar后，命令行输入ls –l /dev | grep ttyUSB 并没有发现 /dev/ttyUSB0。

原因：TX1内核里缺少相应的驱动，cp210x

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方法1：

比较直接的方法是 http://blog.csdn.net/sinat_31135199/article/details/52902744?locationNum=13&fps=1 博客里的方法，即直接在TX1上编译相应的驱动。

但是我在tx1上编译的过程中遇到了以下问题：
Failed to compile kernel module (gcc cannot recognize aarch64 option: -mgeneral-regs-only)

可能原因是：
‘This is an aarch64 specific option that the ARM A57 on TX1 should support, so I guess it’s a toolchain issue.’
如果执行以下步骤重新安装gcc，会卸载掉原先安装好的cuda，ros，plc等程序
sudo dpkg –add-architecture arm64
sudo apt-get update
sudo apt-get install libc6:arm64 binutils:arm64 cpp-4.8:arm64 gcc-4.8:arm64

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方法2：

用这个方法解决了以上问题，思路是在pc机上交叉编译cp210x这个驱动，然后把相应的库文件拷贝到tx1上的相应位置，配置生效。

参考：

https://devtalk.nvidia.com/default/topic/906942/failed-to-compile-module-gcc-cannot-recognize-aarch64-option-mgeneral-regs-only-/

I’ve been struggling with getting cross compilation to work with the Jetson TX1 kernel source for a while and also found a lot of the posts on the forum to be only partial answers. I’m going to step through it here.

As a more direct response to the question above, the -mgeneral-regs-only error means you’re using the wrong compiler to attempt to compile the kernel source (one which doesn’t take the -mgeneral-regs-only flag). You might be trying to just compile the kernel source on the Jetson or you might be trying to cross compile on another machine and t