[人工智能]Jetson nano使用-- ROS安装记录

前言

本文章记录了作者在使用nano过程中ROS环境的安装过程

一、Nano环境配置

1、检查当前系统的交换空间和内存

sodo swapon --show
free -h

2、增加2G的使用空间

sudo fallocate -l 2G /swapfile
sudo chmod 666 /swapfile
sudo mkswap /swapfile
sudo swapon /swapfile

3、为使激活永远有效

sudo gedit /etc/fstab

粘贴

/swapfile swap swap defaults 0 0

4、验证是否有效

sudo swapon --show
sudo free -h

二、更新系统并移除无用软件

1、移除LibreOffice

sudo apt-get purge libreoffice*
sudo apt-get clean

2、更新系统并还原

sudo cp /etc/apt/sources.list /etc/apt/sources.list.bak
sudo gedit  /etc/apt/sources.list

将以下内容替换原内容

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

保存并退出

3、更新软件列表并进行软件更新

sudo apt-get update 
sudo apt-get upgrade

三、pip安装

1、安装pip

sudo apt-get install -y python3-dev python3-testresources python3-setuptools 
wget https://bootstrap.pypa.io/pip/3.6/get-pip.py
sudo python3 get-pip.py
rm get-pip.py

2、pip换源

持久的更换默认源

pip install pip -U
pip config set global.index-url https://pypi.tuna.tsinghua.edu.cn/simple

四、ROS安装

1、 添加ROS国内源

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

2、添加密钥

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

3、安装

更新包列表

sudo apt update

完整桌面版安装

sudo apt install ros-melodic-desktop-full

4、环境设置

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc

5、依赖包安装

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential

6、初始化rosdep

sudo rosdep init
rosdep update

1.sudo rodeo init报错

sudo rosdep init
ERROR: cannot download default sources list from:
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
Website may be down.

解决方案：

sudo gedit /etc/hosts

添加

199.232.28.133 raw.githubusercontent.com
151.101.228.133 raw.github.com

如果还不行，便手动完成初始化

sudo passwd    //接着提示输入UNIX密码，输入你的用户密码即可
sudo su //或者su root 然后输入密码切换至root用户
sudo mkdir -p /etc/ros/rosdep/sources.list.d
cd /etc/ros/rosdep/sources.list.d
sudo gedit 20-default.list 

将以下内容复制进20-default.list文件中

# os-specific listings first
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx

# generic
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
gbpdistro https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml fuerte

# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead

执行下面的命令

exit //退出root用户
rosdep update

2.rosdep update报错
解决方案如下：

git clone https://github.com/ros/rosdistro.git

将下载下来的文件提取至主目录下的git文件夹；
将下列文件备份

sudo cp /usr/lib/python2.7/dist-packages/rosdep2/main.py /usr/lib/python2.7/dist-packages/rosdep2/main.py.bak
sudo cp /usr/lib/python2.7/dist-packages/rosdep2/rep3.py /usr/lib/python2.7/dist-packages/rosdep2/rep3.py.bak
sudo cp /usr/lib/python2.7/dist-packages/rosdistro/__init__.py /usr/lib/python2.7/dist-packages/rosdistro/__init__.py.bak
sudo cp /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py.bak
sudo cp /etc/ros/rosdep/sources.list.d/20-default.list /etc/ros/rosdep/sources.list.d/20-default.list.bak

对下面的文件进行操作，全部将 https://raw.githubusercontent.com/ros/rosdistro/master 替换为file:///home/xxx/git/rosdistro
注：xxx为用户名

sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/rep3.py
sudo gedit /usr/lib/python2.7/dist-packages/rosdistro/__init__.py
sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py
sudo gedit /etc/ros/rosdep/sources.list.d/20-default.list

再执行：

rosdep update

显示成功执行！
对ROS文件夹进行提权：

sudo chmod 777 -R ~/.ros/

7、运行测试

roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key

分别用3个终端打开上述命令，当可以正常显示小乌龟，并可以用按键控制时，ROS环境即安装成功。

引用文章链接

https://blog.csdn.net/maijiayong/article/details/109910366
https://blog.csdn.net/Hacker_MAI/article/details/105827254