技術標籤：8—Use(use)軟體、包、工具等的安裝及使用JetsonROS

環境要求：

• 版本: ROSMelodic（Ubuntu18.04）
• 支援JetPack >= 4.2 (Jetson Nano / TX1 / TX2 / Xavier NX / AGX Xavier)

1、安裝依賴

$ sudo apt-add-repository universe
$ sudo apt-add-repository multiverse
$ sudo apt-add-repository restricted

2、新增ros映象源

$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
 

最好使用國內的映象源，下面是中國科學技術大學的ros映象源，更多國內映象源參考

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

3、新增金鑰

$ sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
 

4、更新下載源

$ sudo apt-get update

5、安裝ros

$ sudo apt-get install ros-melodic-ros-base

6、新增ros環境變數

sudo sh -c 'echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc'

7、測試ros是否安裝成功

顯示為如下，安裝成功

(base) [email protected]-mint:~$ roscore
... logging to /home/shl/.ros/log/e6a9effe-3dd8-11eb-9388-
 
e0d55e449b44/roslaunch-zhihui-mint-11387.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://zhihui-mint:46237/
ros_comm version 1.14.9


SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.9

NODES

auto-starting new master
process[master]: started with pid [11494]
ROS_MASTER_URI=http://zhihui-mint:11311/

setting /run_id to e6a9effe-3dd8-11eb-9388-e0d55e449b44
process[rosout-1]: started with pid [11505]
started core service [/rosout]

8、安裝ros的python庫包rospy

pip3 install rospkg