树莓派安装ubuntu20.04+ros noetic

烧录SD卡

准备工作

注意：树莓派为arm架构 镜像文件需要选择preinstalled-desktop-arm64+raspi4

#20.04
https://ubuntu.com/download/raspberry-pi
#或者：树莓派性能优秀的话，直接用下面的桌面版，烧录后操作和上一篇双系统类似
https://github.com/TheRemote/Ubuntu-Server-raspi4-unofficial/releases

SD烧录ubuntu 18.04.4 64位镜像：

https://blog.csdn.net/legend198/article/details/108099518?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522164204517716780271997630%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=164204517716780271997630&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~first_rank_ecpm_v1~rank_v31_ecpm-1-108099518.pc_search_result_cache&utm_term=%E6%A0%91%E8%8E%93%E6%B4%BEimager&spm=1018.2226.3001.4187

连WI-FI

#3.2.6
https://emanual.robotis.com/docs/en/platform/turtlebot3/sbc_setup/#sbc-setup

至此，把SD卡插入树莓派完事。

安装ROS noetic

SSH远程登录

ssh ubuntu@树莓派IP地址

树莓派IP地址：

ifconfig
#wlan0:inet:”IP地址“

替换国内源

sudo sed -i -e 's/https\?:\/\/[^/]*\/ubuntu/http:\/\/mirrors.ustc.edu.cn\/ubuntu/g' /etc/apt/sources.list
sudo apt-get update

https://blog.csdn.net/m0_53683803/article/details/115564691?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522164204112516780269838464%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=164204112516780269838464&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~first_rank_ecpm_v1~rank_v31_ecpm-1-115564691.pc_search_result_cache&utm_term=%E6%A0%91%E8%8E%93%E6%B4%BEros+noetic%E5%AE%89%E8%A3%85&spm=1018.2226.3001.4187

ROS初始化

参照如下初始化后的操作：

https://blog.csdn.net/qq_41450811/article/details/99079041?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522164186594816780271534700%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=164186594816780271534700&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~first_rank_ecpm_v1~rank_v31_ecpm-1-99079041.pc_search_result_cache&utm_term=ubuntu18.04%E5%AE%89%E8%A3%85ros&spm=1018.2226.3001.4187

http://obgeqwh.top/rosdep-update-read-operation-time-out-%e4%b8%8d%e7%94%a8%e7%bf%bb%e5%a2%99%e7%9a%84%e8%a7%a3%e5%86%b3%e6%96%b9%e6%b3%95/

重启，关机

sudo shutdown -r now 
sudo shutdown -h now