如何在Jetson AGX Xavier搭建ROS

因为jetson agx xavier使用ubuntu18.04系统，因此只能使用ros melodic版本，在github上有更加简易的安装方式

git https://github.com/jetsonhacks/installROSXavier.git 

cd installROSXavier

./installROSXavier

./setupCatkinWorkspace.sh

[rosout-1] restarting process
/opt/ros/melodic/lib/rosout/rosout: error while loading shared libraries: libroscpp.so: cannot open shared object file: No such file or directory
failed to start local process: /opt/ros/melodic/lib/rosout/rosout __name:=rosout __log:=/home/nvidia/.ros/log/ad77b49c-0d8b-11ea-9c9b-00044bcc27c9/rosout-1.log
[rosout-1] process has died [pid 10772, exit code 127, cmd /opt/ros/melodic/lib/rosout/rosout __name:=rosout __log:=/home/nvidia/.ros/log/ad77b49c-0d8b-11ea-9c9b-00044bcc27c9/rosout-1.log].
log file: /home/nvidia/.ros/log/ad77b49c-0d8b-11ea-9c9b-00044bcc27c9/rosout-1*.log

打开 ~/.bashrc添加以下内容

export LD_LIBRARY_PATH=/opt/ros/melodic/lib
export LD_LIBRARY_PATH=/usr/local/cuda-10.0/lib64:$LD_LIBRARY_PATH
export LC_ALL="C"
source /opt/ros/melodic/setup.bash
export ROS_HOSTNAME=nvidia//在linux上运行hostname查看主机名
export ROS_MASTER_URI=http://127.0.0.1:11311//主机的IP：11311，11311是固定的
export ROS_IP=127.0.0.1//从机的IP地址

 

上述错误最主要的原因是缺少：source /home/nvidia/catkin_ws/devel/setup.bash