http://wiki.ros.org/ROSberryPi/Installing%20ROS%20Kinetic%20on%20the%20Raspberry%20Pi
目录
This tutorial explains how to install ROS Kinetic from source on the Raspberry Pi. The instructions follow roughly the source installation of Indigo. However, a few dependencies need to be accounted for Raspbian.
Note: If you're using the Raspberry Pi 2 or 3 it is faster and easier to use the standard ARM installation instructionshere.
An SD Card Image with Ubuntu Mate 16.04 and Ros Kinetic installed can be downloaded here: http://www.german-robot.com/2016/05/26/raspberry-pi-sd-card-image/
These instructions assume that Raspbian is being used as the OS on the Raspberry Pi. The download page for current images of Raspbian is http://www.raspberrypi.org/downloads/.
Raspbian Jessie:
$ 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://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
Now, make sure your Debian package index is up-to-date:
$ sudo apt-get update $ sudo apt-get upgrade
Raspbian Jessie:
$ sudo apt-get install -y python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential cmake
$ sudo rosdep init $ rosdep update
Now, we will download and build ROS Kinetic.
In order to build the core packages, you will need a catkin workspace. Create one now:
$ mkdir -p ~/ros_catkin_ws $ cd ~/ros_catkin_ws
Next we will want to fetch the core packages so we can build them. We will use wstool for this. Select the wstool command for the particular variant you want to install:
ROS-Comm: (recommended) ROS package, build, and communication libraries. No GUI tools.
$ rosinstall_generator ros_comm --rosdistro kinetic --deps --wet-only --tar > kinetic-ros_comm-wet.rosinstall $ wstool init src kinetic-ros_comm-wet.rosinstall
Desktop: ROS, rqt, rviz, and robot-generic libraries
$ rosinstall_generator desktop --rosdistro kinetic --deps --wet-only --tar > kinetic-desktop-wet.rosinstall $ wstool init src kinetic-desktop-wet.rosinstall
This will add all of the catkin or wet packages in the given variant and then fetch the sources into the~/ros_catkin_ws/src directory. The command will take a few minutes to download all of the core ROS packages into the src folder. The -j8 option downloads 8 packages in parallel.
So far, only these two variants have been tested on the Raspberry Pi in Kinetic; however, more are defined in REP 131such as robot, perception, etc. Just change the package path to the one you want, e.g., for robot do:
$ rosinstall_generator robot --rosdistro kinetic --deps --wet-only --tar > kinetic-robot-wet.rosinstall $ wstool init src kinetic-robot-wet.rosinstall
Please feel free to update these instructions as you test more variants.
If wstool init fails or is interrupted, you can resume the download by running:
wstool update -j4 -t src
Before you can build your catkin workspace, you need to make sure that you have all the required dependencies. We use the rosdep tool for this, however, a couple of dependencies are not available in the repositories. They must be manually built first.
Compilation of collada_urdf will fail per this issue.
You can provide a compatible version of Assimp (Open Asset Import Library) to fix this link error:
mkdir -p ~/ros_catkin_ws/external_src cd ~/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
Note: If you have problems, you can skip collada_urdf using the following generator:
$ rosinstall_generator desktop --rosdistro kinetic --deps --wet-only --exclude collada_parser collada_urdf --tar > kinetic-desktop-wet.rosinstall
The remaining dependencies should be resolved by running rosdep:
Raspbian Jessie:
$ cd ~/ros_catkin_ws $ rosdep install -y --from-paths src --ignore-src --rosdistro kinetic -r --os=debian:jessie
This will look at all of the packages in the src directory and find all of the dependencies they have. Then it will recursively install the dependencies.
The --from-paths option indicates we want to install the dependencies for an entire directory of packages, in this case src. The --ignore-src option indicates to rosdep that it shouldn't try to install any ROS packages in the src folder from the package manager, we don't need it to since we are building them ourselves. The --rosdistro option is required because we don't have a ROS environment setup yet, so we have to indicate to rosdep what version of ROS we are building for. Finally, the -y option indicates to rosdep that we don't want to be bothered by too many prompts from the package manager.
After a while rosdep will finish installing system dependencies and you can continue.
Once you have completed downloading the packages and have resolved the dependencies, you are ready to build the catkin packages.
Invoke catkin_make_isolated:
$ sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/kinetic
Note: This will install ROS in the equivalent file location to Ubuntu in /opt/ros/kinetic however you can modify this as you wish.
It is highly likely that the compilation will fail with an "internal compiler error" caused by memory exhaustion. A quick fix for this is to add swap space to the Pi and recompile. If the error persists try building with the -j2 option instead of the default -j4 option:
$ sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/kinetic -j2
Now ROS should be installed! Remember to source the new installation:
$ source /opt/ros/kinetic/setup.bash
Or optionally source the setup.bash in the ~/.bashrc, so that ROS environment variables are automatically added to your bash session every time a new shell is launched:
$ echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
See the Ubuntu source install instructions for steps on updating the ros_catkin_ws workspace. The same steps should apply to the Raspberry Pi.
You may add additional packages to the installed ros workspace that have been released into the ros ecosystem. First, a new rosinstall file must be created including the new packages (Note, this can also be done at the initial install). For example, if we have installed ros_comm, but want to add ros_control and joystick_drivers, the command would be:
$ cd ~/ros_catkin_ws $ rosinstall_generator ros_comm ros_control joystick_drivers --rosdistro kinetic --deps --wet-only --tar > kinetic-custom_ros.rosinstall
You may keep listing as many ROS packages as you'd like separated by spaces.
Next, update the workspace with wstool:
$ wstool merge -t src kinetic-custom_ros.rosinstall $ wstool update -t src
After updating the workspace, you may want to run rosdep to install any new dependencies that are required:
Raspbian Jessie:
$ rosdep install --from-paths src --ignore-src --rosdistro kinetic -y -r --os=debian:jessie
Finally, now that the workspace is up to date and dependencies are satisfied, rebuild the workspace:
$ sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/kinetic
http://wiki.ros.org/indigo/Installation/Source