【电控类笔记】树莓派4B搭建Ubuntu20.04+ros-noetic系统及镭神N10运行数据融合

Y-Serein

已于 2025-05-20 09:28:10 修改

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于 2025-05-20 09:23:43 首次发布

本文链接：https://blog.csdn.net/ysczsy/article/details/148080152

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备份与整理大学期间的笔记：基于匿名凌霄飞控与树莓派的四旋翼无人机在未知复杂度环境的自主探索系统

Ubuntu 18.04 的代号Xenial Xerus
Ubuntu 18.04 的代号 bionic
Ubuntu 20.04 的代号 focal
Ubuntu 22.04 的代号 jammy
Ubuntu 24.04 的代号 Noble Numbat

树莓派环境搭建

下载树莓派镜像

打开网址Ubuntu 20.04.5 LTS (Focal Fossa)

下滑到底，选择下载：ubuntu-20.04.5-preinstalled-server-arm64+raspi.img.xz.zsync（755M）
使用Raspberry Pi Imager烧录

先使用SD Card Formatter格式化SD卡，再烧录，此过程容易失败
配置网络（建议先用自己的热点，可以看到是否有连接设备）

sudo vim /etc/netplan/50-cloud-init.yaml
生效网络配置

sudo netplan generate

sudo netplan apply

ifconfig（需要下载，sudo apt-get install net-tools）
配置国内镜像源

sudo vim /etc/apt/sources.list

将所有地址deb http开头的网址修改

https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/

键入ESC->：->wq
更新系统(约半小时)

sudo apt-get update sudo apt-get upgrade
下载Ubuntu桌面版(约半小时)

sudo apt install ubuntu-desktop sudo apt install xrdp
重启系统

reboot

安装远程桌面（可跳过本步骤，先下一步）

下载Nomachine远程桌面

进入网址NoMachine - Download NoMachine for Arm点击下载

上述网址失效：浏览器搜索nomachine_7.6.2_3_arm64.deb ->点击第一个Nomachine-> NoMachine for ARM ARMv8 DEB->Download

将该.deb传输到Ubuntu中

运行下载

sudo dpkg -i nomachine_xxx（按Tab自动补全）

修改nomachine配置

sudo vim /usr/NX/etc/server.cfg

键入ESC->键入GG至文末->键入i编辑

PhysicalDesktopAuthorization 0

AutomaticDisconnection 1

键入ESC->键入:->键入wq保存

重启配置

sudo /usr/NX/bin/nxserver --restart

下载Nomachine的Windows版本->打开->系统自动扫描同一网段的启用该程序设备->输入账号密码连接

ROS基本工作环境搭建

ros一键安装工具（注意-O大写）

wget http://fishros.com/install -O fishros && . fishros
创建工作空间

mkdir -p ~/catkin_ws/src
初始化工作空间

cd ~/catkin_ws/src

catkin_init_workspace
编译工作空间

cd ~/catkin_ws/

catkin_make
配置环境变量(使终端能正确识别和使用 ROS 的命令和包)

source devel/setup.bash

以上为暂时的，永久配置如下

gedit ~/.bashrc

在末尾添加

source /home/username/catkin_ws/devel/setup.bash

source ~/.bashrc //保存文件后使其生效

启动串口通信（可跳过本步骤，先下一步）

下载树莓派硬件交互包

sudo apt install libraspberrypi-bin
查看所有串口

dtoverlay -a | grep uart
配置串口

sudo gedit /boot/config.txt

文末添加

dtoverlay=uart2 dtoverlay=uart3 dtoverlay=uart4 dtoverlay=uart5
重启确认是否生效

reboot

ls /dev/ttyAMA*

若生效会输出AMA0-4设备

UART与GPIO对应关系

GPIO14 = TXD0 -> ttyAMA0 GPIO0 = TXD2 -> ttyAMA1 GPIO4 = TXD3 -> ttyAMA2 GPIO8 = TXD4 -> ttyAMA3 GPIO12 = TXD5 -> ttyAMA4

GPIO15 = RXD0 -> ttyAMA0 GPIO1 = RXD2 -> ttyAMA1 GPIO5 = RXD3 -> ttyAMA2 GPIO9 = RXD4 -> ttyAMA3 GPIO13 = RXD5 -> ttyAMA4

使用python测试

pi@raspberrypi:~ $ python3
Python 3.7.3 (default, Jul 25 2020, 13:03:44) 
[GCC 8.3.0] on linux
Type ``"help"``, ``"copyright"``, ``"credits"` `or ``"license"` `for` `more` `information.
>>> ``import` `serial
>>> ted5 = serial.Serial(port="/dev/ttyAMA4", baudrate=9600)
>>> ted5.write("Hello No.5".encode("gbk"))
10
>>> ted5.read(10)
b'Hello No.5'

打开串口3（连接至雷达）串口5（连接至飞控）

/boot/uEnv/board.txt （board 是你所用的板子的名称）
将内存缓冲区中的数据强制写入磁盘并重启

sync

reboot
检查是否使能成功

ls /dev/tty*

N10雷达环境搭建

编译原始N10包

将lsn10包导入src工作区

下载编译工具

sudo apt-get install libpcap-dev

编译

cd ~/catkin_ws/

catkin_make -DCATKIN_WHITELIST_PACKAGES=lslidar_msgs

catkin_make -DCATKIN_WHITELIST_PACKAGES=lslidar_driver
导入CH343驱动

下载ch343ser_linux驱动包，并解压

进入解压后的驱动包的driver目录

cd ./ch343ser_linuxxxx/driver

右键点击Open in Terminal进入此目录终端

查看是否有adc模块

lsmod | grep cdc_acm

有输出的话卸载,否则跳过本步骤

sudo rmmod cdc_acm

编译规则

make

载入模块

sudo make load

将文件安装至指定目录

sudo make install

使系统自动装载该驱动

sudo gedit /etc/modules

重启系统

reboot

查看是否装载

ll /dev | grep ttyCH343USB
运行程序

启动雷达

roslaunch lslidar_driver lslidar_serial.launch

启动点云

rivz

修改索引

RVIZ->左上方Displays->Fixed Frame->修改参数为->laser

添加索引

RVIZ->左下角add->By topic->/scan->LaserScan->OK

SLAM环境搭建

GitHub下载对应的hector-mapping包放入src中

git clone https://github.com/tu-darmstadt-ros-pkg/hector_slam
调用lslidar_serial.launch

cp ~/catkin_ws/src/lsx10/lslidar_driver/launch/lslidar_serial.launch ~/catkin_ws/src/hector_slam/hector_mapping/launch/laser_ys.launch
新建 ROS 节点的配置文件

vim ~/catkin_ws/src/hector_slam/hector_mapping/launch/slam_ys.launch

<?xml version="1.0"?>

<launch>  <include file="$(find hector_mapping)/launch/laser_ys.launch" />

 <include file="$(find hector_mapping)/launch/mapping_default.launch" />

<node pkg="tf" type="static_transform_publisher" name="odom_to_base" args="0.0 0.00 0.0 0 0 0 odom_combined base_footprint 100" />

<node pkg="tf" type="static_transform_publisher" name="base_to_laser" args="0.0 0.00 0.0 3.14 0 0 base_footprint laser 100" />

 <node name="rviz" pkg="rviz" type="rviz" args="-d $(find hector_mapping)/rviz/hector.rviz" /> </launch>
修改mapping_default.launch配置文件

修改第六行

<arg name="odom_frame" default="odom_combined"/>

保存退出
新建rviz配置
vim ~/catkin_ws/src/hector_slam/hector_mapping/rviz/hector.rviz
Panels:
- Class: rviz/Displays Help Height: 78 Name: Displays Property Tree Widget: Expanded: ~ Splitter Ratio: 0.5 Tree Height: 572
- Class: rviz/Selection Name: Selection
- Class: rviz/Tool Properties Expanded:
  - /2D Pose Estimate1
  - /2D Nav Goal1
  - /Publish Point1 Name: Tool Properties Splitter Ratio: 0.5886790156364441
- Class: rviz/Views Expanded:
  - /Current View1 Name: Views Splitter Ratio: 0.5
- Class: rviz/Time Experimental: false Name: Time SyncMode: 0 SyncSource: "" Preferences: PromptSaveOnExit: true Toolbars: toolButtonStyle: 2 Visualization Manager: Class: "" Displays:
  - Alpha: 0.5 Cell Size: 1 Class: rviz/Grid Color: 160; 160; 164 Enabled: true Line Style: Line Width: 0.029999999329447746 Value: Lines Name: Grid Normal Cell Count: 0 Offset: X: 0 Y: 0 Z: 0 Plane: XY Plane Cell Count: 10 Reference Frame: <Fixed Frame> Value: true
  - Class: rviz/TF Enabled: true Frame Timeout: 15 Frames: All Enabled: true base_footprint: Value: true laser: Value: true odom_combined: Value: true Marker Scale: 1 Name: TF Show Arrows: true Show Axes: true Show Names: true Tree: {} Update Interval: 0 Value: true
  - Alpha: 0.699999988079071 Class: rviz/Map Color Scheme: map Draw Behind: false Enabled: true Name: Map Topic: /map Unreliable: false Use Timestamp: false Value: true
  - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 Min Value: -10 Value: true Axis: Z Channel Name: intensity Class: rviz/LaserScan Color: 255; 255; 255 Color Transformer: Intensity Decay Time: 0 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 47 Min Color: 0; 0; 0 Min Intensity: 47 Name: LaserScan Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.009999999776482582 Style: Flat Squares Topic: /scan Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true Enabled: true Global Options: Background Color: 48; 48; 48 Default Light: true Fixed Frame: map Frame Rate: 30 Name: root Tools:
  - Class: rviz/Interact Hide Inactive Objects: true
  - Class: rviz/MoveCamera
  - Class: rviz/Select
  - Class: rviz/FocusCamera
  - Class: rviz/Measure
  - Class: rviz/SetInitialPose Theta std deviation: 0.2617993950843811 Topic: /initialpose X std deviation: 0.5 Y std deviation: 0.5
  - Class: rviz/SetGoal Topic: /move_base_simple/goal
  - Class: rviz/PublishPoint Single click: true Topic: /clicked_point Value: true Views: Current: Class: rviz/Orbit Distance: 14.049280166625977 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: X: 0 Y: 0 Z: 0 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 Pitch: 1.5697963237762451 Target Frame: <Fixed Frame> Value: Orbit (rviz) Yaw: 1.705397605895996 Saved: ~ Window Geometry: Displays: collapsed: false Height: 869 Hide Left Dock: false Hide Right Dock: false QMainWindow State: 000000ff00000000fd000000040000000000000156000002c7fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002c7000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000037cfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000270000037c000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003a00000003efc0100000002fb0000000800540069006d00650100000000000003a0000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000244000002c700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: collapsed: false Tool Properties: collapsed: false Views: collapsed: false Width: 928 X: 562 Y: 108
重新编译工作空间

catkin_make -DCATKIN_WHITELIST_PACKAGES=hector_mapping
运行RVIZ视图空间

roslaunch hector_mapping slam_ys.launch
添加操作指令

rviz视图左下角ADD

RVIZ->Create visuallzation->By display type->RobotModel
修改参数

RVIZ->LaserScan->Size-> 0.07
保存地图

安装map_server包

sudo apt-get install ros-noetic-map-server

保存地图

rosrun map_server map_saver -f ~/my_map
查看坐标系与话题关系

rosrun tf view_frames

evince frames.pdf

若报错TypeError: cannot use a string pattern on a bytes-like object

sudo gedit /opt/ros/noetic/lib/tf/view_frames

搜索m = r.search(vstr)（第89行），在这行前面添加vstr=str(vstr)即可。

再次运行

rosrun tf view_frames
hector_mapping运行时的节点和话题关系

rqt_graph

一般会报错，解决方案如下：

sudo apt-get install ros-noetic-rqt sudo apt-get install ros-noetic-rqt-graph sudo apt-get install ros-noetic-rqt-common-plugins

或者使用rqt或rosrun查询话题

rqt

rosrun rqt_graph rqt_graph

查看节点与节点之间的关系

plugins->Introspection / Node Graph

插件可以看到所有与ROS2相关的进程

Introspection / Process Monitor

获取base_link的姿态

rosrun tf tf_echo /map /base_link

实现开机自启

安装robot_upstart功能包实现节点开机自启

sudo apt-get install ros-noetic-robot-upstart
自启动设置

rosrun robot_upstart install <package_name>/launch/<launch_file>.launch

启动任务，只需要启动功能包的名字<package_name>即可

sudo systemctl daemon-reload && sudo systemctl start <package_name> sudo service <package_name> start
停止任务

sudo service <package_name> stop
卸载自启动任务

sudo service <package_name> stop rosrun robot_upstart uninstall <package_name>
如果对launch进行更改,需要重启任务

卸载自启动任务

sudo service <package_name> stop rosrun robot_upstart uninstall <package_name>

重新设置自启动任务

rosrun robot_upstart install <package_name>/launch/<launch_file>.launch sudo systemctl daemon-reload && sudo systemctl start <package_name> sudo service <package_name> start