树莓派安装Ubuntu16.04 MATE系统以及ROS(kinetic)的安装

安装ubuntu16.04 MATE系统

1.安装Ubuntu16.04镜像

从官网下载并按照树莓派刷写系统的流程将ubuntu16.04 MATE烧写到树莓派的SD卡上

2.设置WiFi   

将树莓派外接显示器,在图形化操作界面中设置连接无线;

3.更新源

备份原配置文件

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

添加清华大学的软件源,将以下内容复制到sources.list中,替换原有内容

用任意编辑器打开sources.list,此处以nano为例:

sudo nano /etc/apt/sources.list

将以下内容复制进去并保存退出

1 deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenail-updates main restricted universe multiverse
2 deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenail-updates main restricted universe multiverse
3 deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenail-security main restricted universe multiverse
4 deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenail-security main restricted universe multiverse
5 deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenail-backports main restricted universe multiverse
6 deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenail-backports main restricted universe multiverse
7 deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenail main restricted universe multiverse
8 deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenail main restricted universe multiverse  

更新系统软件源

sudo apt-get update

安装ROS

1.添加Ubuntu16.04软件源,这里使用中科大的软件源

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

2.设置密钥

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

3.更新软件源

sudo apt-get update

4.安装ROS

树莓派性能有限,不推荐在树莓派系统上运行ROS的GUI工具,所以安装ROS的基本功能包即可:

sudo apt-get install ros-kinetic-ros-base

5.安装rosdep工具

1 sudo rosdep init
2 rosdep update

6.设置环境变量

1 echo "source /opt/ros/kinetic/setup.bash">> ~/.bashrc
2 source ~/.bashrc

7.安装其他功能包

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

至此就完成了全部安装过程,如果安装顺利,在树莓派终端输入

roscore

即可启动ros

 

转载于:https://www.cnblogs.com/pyxz/p/10552298.html

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