树莓派4B+Raspbian-buster系统+安装ROS环境 版本melodic+串口配置
安装xrdp (使用电脑远程连接树莓派，进行可视化操作
sudo apt-get install xrdp
sudo apt-get install vim
更改树莓派源
sudo vim /etc/apt/sources.list
加入
deb http://mirrors.ustc.edu.cn/raspbian/raspbian/ buster main contrib
non-free rpi
安装ROS环境
Step 1: Install Dependecies and Download the Packages
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt-get update
sudo apt-get install -y python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential cmake
Then initialize rosdep and update it
sudo rosdep init
rosdep update
如果出现问题：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.
解决方法sudo vim /etc/hosts增加：
151.101.76.133 raw.githubusercontent.com
重新开启终端尝试
原文链接https://blog.csdn.net/u010539624/article/details/106785549
When that’s done let’s create a dedicated catkin workspace for building ROS and move to that directory.
mkdir ~/ros_catkin_wscd ~/ros_catkin_ws
Desktop Install: includes GUI tools, such as rqt, rviz, and robot-generic libraries.
rosinstall_generator desktop --rosdistro melodic --deps --wet-only --tar > melodic-desktop-wet.rosinstall
wstool init -j8 src melodic-desktop-wet.rosinstall
The command will take a few minutes to download all of the core ROS packages into the src folder. If wstool init fails or is interrupted, you can resume the download by running:
wstool update -j 4 -t src
Step 2: Fix the Issues
Let’s install the compatible version of Assimp (Open Asset Import Library) to fix collada_urdf dependency problem.
mkdir -p ~/ros_catkin_ws/external_srccd ~/ros_catkin_ws/external_src
wget http://sourceforge.net/projects/assimp/files/assimp-3.1/assimp-3.1.1_no_test_models.zip/download -O assimp-3.1.1_no_test_models.zip
unzip assimp-3.1.1_no_test_models.zip
cd assimp-3.1.1
cmake .
make
sudo make install
Let’s also install OGRE for rviz
sudo apt-get install libogre-1.9-dev
Next we use the rosdep tool for installing all the rest of the dependencies:
rosdep install --from-paths src --ignore-src --rosdistro melodic -y
Step 3: Build and Source the Installation
Once it has completed downloading the packages and resolving the dependencies you are ready to build the catkin packages.
sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/melodic -j2
Now ROS Melodic should be installed on your Raspberry Pi 4. We’ll source the new installation with following command:
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
Try launching roscore to check if everything was successful.
roscore
Step 4:ROS Driver Compile
sudo apt-get install libudev-dev
sudo apt remove gccsudo apt install -y g++-5 gcc-5
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-5 10
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-5 20
sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-5 10
sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-5 20
sudo update-alternatives --install /usr/bin/cc cc /usr/bin/gcc 30
sudo update-alternatives --set cc /usr/bin/gccsudo update-alternatives --install /usr/bin/c++ c++ /usr/bin/g++ 30
sudo update-alternatives --set c++ /usr/bin/g++
Before doing the following, make sure that the Kinetic version ROS environment and wiringPi are installed correctly. wiringPi updated to 2.52 for the Raspberry Pi 4B.
cd /tmp
wget https://project-downloads.drogon.net/wiringpi-latest.deb
sudo dpkg -i wiringpi-latest.deb
Check with
gpio -v
Step 5:启用串口ttyS0
sudo raspi-config
打开系统配置界面
选择Inerfacing Options
然后选择 serial
然后选择Yes
最后选择保存，退出即可。
reboot重启树莓派
查看串口映射关系
ls -l /dev
serial0是GPIO引脚对应的串口，serial1是蓝牙对应的串口。
因此代码中写 /dev/ttyS0