第二次配置xavier（成功）

1 刷机

【参考NVIDIA Jetson AGX Xavier刷机Jetpack4.3】

1.1 什么是刷机

由于Xavier是嵌入式平台，使用的是AArch64架构，与我们平时使用的Intel架构电脑不一样，故开发环境搭建方式也不一样。为了简化环境搭建过程，让人们能更快的上手使用，Nvidia提供了一套SDK，叫做JetPack，包含有CUDA、cuDNN、TensorRT等常用深度学习库，只需要刷机即可直接安装到Xavier。所谓刷机就是利用另一台计算机作主机，将 OS 镜像下载好，然后烧录到 xavier 中并安装一些 SDK 组件的过程。

1.2 刷机

【参考 NVIDIA Jetson AGX Xavier刷机Jetpack4.3】

JetPack SDK（下载）和 Jetson 下载中心

需要注意的是：

• 本人遇到了登陆界面卡住的问题，后来通过换浏览器解决了登陆问题
• xavier需要在开机的状态下与主机连接、以进行识别
• 若不能自动识别，则同时按住电源键旁边的两个按键、使xavier进入刷机模式

2 基本配置

根据我目前阶段的了解，xavier不需要像pc端ubuntu那样安装显卡驱动

2.1 开机启动风扇

首先安装pip

sudo apt install python-pip

【参考Xavier(Xavier,NX, Nano, AGX Xavier, TX1, TX2)开机启动风扇】

2.2 安装拼音

【参考在Jetson Xavier NX安装中文输入法（googlepinyin中文输入法）】

2.3 xavier扩容

【参考Jetson Xavier/NX 采用M.2 Key M SSD为系统盘】
要注意的是，选择“Ext4”格式前需要点击“+”号

3 配置anaconda虚拟环境、安装ROS

3.1 配置anaconda虚拟环境

安装anaconda

【参考NVIDIA AGX Xavier环境配置】
【参考Jetson AGX Xavier python虚拟环境+yolo配置+opencv】

创建虚拟环境

conda create -n py27 python=2.7

3.2 安装ROS

安装ROS

【参考Nvidia Jetson AGX Xavier安装ROS、Anaconda、PyTorch及其它依赖库】

source activate py27

git clone https://github.com/jetsonhacks/installROSXavier.git
cd installROSXavier
./installROS.sh -p ros-melodic-desktop-full

安装好后在终端输入roscore检查能否正常启动，如果不能，则打开.bashrc文件

sudo gedit ~/.bashrc 

在后边加入如下两行即可

export LD_LIBRARY_PATH=/opt/ros/melodic/lib
export LC_ALL="C"

测试ROS

装完ROS测试龟龟是必须的仪式感，分别开三个终端输入

source activate py27
roscore

rosrun turtlesim turtlesim_node

rosrun turtlesim turtle_teleop_key

3.3 创建工作空间、编译

新开一个终端，输入

source activate py27
mkdir -p ~/auv_ws/src
cd ~/auv_ws/src
catkin_init_workspace
cd ~/auv_ws/
catkin_make
source devel/setup.bash

3.4 安装uuv-simulator

安装uuv-simulator

往src文件夹中导入uuv_simulator之后：

sudo apt install ros-melodic-uuv-simulator

完成之后进行编译：

cd ~/auv_ws/
catkin_make
source devel/setup.bash

遇到报错

报错截图

报错代码

[100%] Building CXX object uuv_simulator/uuv_sensor_plugins/uuv_sensor_ros_plugins/CMakeFiles/uuv_gazebo_ros_gps_plugin.dir/src/ROSBaseSensorPlugin.cc.o
/home/fyo/auv_ws/src/uuv_simulator/uuv_sensor_plugins/uuv_sensor_ros_plugins/src/gazebo_ros_image_sonar.cpp: In member function 'cv::Mat gazebo::GazeboRosImageSonar::ConstructVisualScanImage(cv::Mat&)':
/home/fyo/auv_ws/src/uuv_simulator/uuv_sensor_plugins/uuv_sensor_ros_plugins/src/gazebo_ros_image_sonar.cpp:945:71: error: 'CV_AA' was not declared in this scope
   cv::ellipse(scan, center, axes, -90, -fov/2.-0.5, fov/2., white, 1, CV_AA); //, int lineType=LINE_8, 0);
                                                                       ^~~~~
/home/fyo/auv_ws/src/uuv_simulator/uuv_sensor_plugins/uuv_sensor_ros_plugins/src/gazebo_ros_image_sonar.cpp:945:71: note: suggested alternative: 'CV_AVX'
   cv::ellipse(scan, center, axes, -90, -fov/2.-0.5, fov/2., white, 1, CV_AA); //, int lineType=LINE_8, 0);
                                                                       ^~~~~
                                                                       CV_AVX
uuv_simulator/uuv_sensor_plugins/uuv_sensor_ros_plugins/CMakeFiles/image_sonar_ros_plugin.dir/build.make:62: recipe for target 'uuv_simulator/uuv_sensor_plugins/uuv_sensor_ros_plugins/CMakeFiles/image_sonar_ros_plugin.dir/src/gazebo_ros_image_sonar.cpp.o' failed
make[2]: *** [uuv_simulator/uuv_sensor_plugins/uuv_sensor_ros_plugins/CMakeFiles/image_sonar_ros_plugin.dir/src/gazebo_ros_image_sonar.cpp.o] Error 1
CMakeFiles/Makefile2:12110: recipe for target 'uuv_simulator/uuv_sensor_plugins/uuv_sensor_ros_plugins/CMakeFiles/image_sonar_ros_plugin.dir/all' failed
make[1]: *** [uuv_simulator/uuv_sensor_plugins/uuv_sensor_ros_plugins/CMakeFiles/image_sonar_ros_plugin.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[100%] Linking CXX shared library /home/fyo/auv_ws/devel/lib/libuuv_gazebo_ros_camera_plugin.so
[100%] Built target uuv_gazebo_ros_camera_plugin
[100%] Linking CXX shared library /home/fyo/auv_ws/devel/lib/libuuv_gazebo_ros_gps_plugin.so
[100%] Built target uuv_gazebo_ros_gps_plugin
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

或者是否参照报错里面的内容将CV_AA改成CV_AVX？
处理后编译成功！

导入eca之后再次进行编译：

cd ~/auv_ws/
catkin_make
source devel/setup.bash

测试uuv-simulator

在终端1中打开gazebo环境：

source activate py27
cd auv_ws/
source devel/setup.bash
roslaunch uuv_gazebo_worlds ocean_waves.launch

在终端2中打开eca：

source activate py27
cd auv_ws/
source devel/setup.bash
roslaunch eca_a9_gazebo start_demo_teleop.launch joy_id:=0