jetsonano ubuntu18.04 LTS ROS安装

参考资料

https://blog.csdn.net/QimingTec/article/details/121174614
https://blog.csdn.net/Iamsonice/article/details/123315787
https://blog.51cto.com/dream666uping/5447379
https://blog.csdn.net/lzw508170827/article/details/124205194

1.配置ubuntu的软件和更新

在系统设置中的系统目录下选择软件和更新

点击关闭后弹出窗口点reload不要点取消

2.配置安装环境

#原有源文件备份：
sudo cp /etc/apt/sources.list /etc/apt/sources.list.bak  
 
#vim编辑源配置文件：
sudo vim /etc/apt/sources.list
 
#删除原有内容，使用以下内容替换：
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic main multiverse restricted universe
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-security main multiverse restricted universe
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-updates main multiverse restricted universe
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-backports main multiverse restricted universe
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic main multiverse restricted universe
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-security main multiverse restricted universe
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-updates main multiverse restricted universe
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-backports main multiverse restricted universe
 
#更新：
sudo apt-get update
 
#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
#更新：
sudo apt-get update

3.安装ros

sudo apt install ros-melodic-desktop-full
 
#ROS初始化：
sudo rosdep init
 
#若提示no command，执行以下安装：
sudo apt-get install python-rosdep
 
#更新：
rosdep update

注：更新不成功出现timeout，使用以下文章的方法解决

https://blog.csdn.net/Iamsonice/article/details/123315787

#配置环境变量：
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
 
#安装常见功能包：
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential
最后再次执行
sudo apt install ros-melodic-desktop-full

4.ROS测试：

#终端1：
roscore
 
#终端2（需要连接显示器在nano端执行）：
rosrun turtlesim turtlesim_node 
 
#终端3：
rosrun turtlesim turtle_teleop_key 
 
#若能控制小乌龟运动则没问题，安装成功