Jetson TX2 NX(Ubuntu 18.04) + ROS melodic + turtlebot功能包 + realsense d455 + ORB-SLAM2
Jetson TX2 NX(Ubuntu 18.04) + ROS melodic + turtlebot功能包 + realsense d455 + ORB-SLAM2
1. 安装ROS melodic
更换中科大源
$ 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'
设置key
$ sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
更新软件源
sudo apt-get update
安装ROS桌面完整版
sudo apt-get install ros-melodic-desktop-full
初始化并更新
sudo apt-get install python3-pip
sudo pip3 install rosdepc
sudo rosdepc init
rosdepc update
在sudo pip3 install rosdepc时遇到错误
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或为pip、pip3版本太旧导致的问题，升级即可。
2. 在Ubuntu18.04 下安装turtlebot功能包
安装依赖
$ sudo apt-get install ros-melodic-kobuki-*
$ sudo apt-get install ros-melodic-ecl-streams
$ sudo apt-get install libusb-dev
$ sudo apt-get install libspnav-dev
$ sudo apt-get install ros-melodic-joystick-drivers
$ sudo apt-get install bluetooth
$ sudo apt-get install libbluetooth-dev
$ sudo apt-get install libcwiid-dev
$ sudo apt-get install ros-melodic-bfl
新建工作目录，准备相关包
$ mkdir -p ~/turtlebot_ws/src
$ cd ~/turtlebot_ws/src
$ git clone https://github.com/turtlebot/turtlebot_simulator
$ git clone https://github.com/turtlebot/turtlebot.git
$ git clone https://github.com/turtlebot/turtlebot_apps.git
$ git clone https://github.com/udacity/robot_pose_ekf
$ git clone https://github.com/ros-perception/depthimage_to_laserscan.git
$ git clone https://github.com/yujinrobot/kobuki_msgs.git
$ git clone https://github.com/yujinrobot/kobuki_desktop.git
$ cd kobuki_desktop/
$ rm -r kobuki_qtestsuite
$ cd ~/turtlebot_ws/src
$ git clone https://ghproxy.com/https://github.com/toeklk/orocos-bayesian-filtering.git
$ git clone https://ghproxy.com/https://github.com/turtlebot/turtlebot_msgs.git
$ git clone https://ghproxy.com/https://github.com/ros-drivers/joystick_drivers.git
若连接失败，在网站前加上
http://ghproxy.com/
复制依赖库到工作空间下
$ mkdir -p ~/repos/
$ cd ~/repos/
$ git clone https://ghproxy.com/https://github.com/yujinrobot/kobuki.git
$ cp -r kobuki/* ~/turtlebot_ws/src/
$ git clone https://ghproxy.com/https://github.com/yujinrobot/yujin_ocs.git
$ cp -r yujin_ocs/yocs_cmd_vel_mux/ yujin_ocs/yocs_controllers ~/turtlebot_ws/src/
编译工作空间
$ cd ~/turtlebot_ws
$ catkin_make
编译时遇到错误，找不到opencv
由于turtlebot功能包默认使用opencv版本为3.2.0，但是Jetson TX2 的opencv版本为4.1。
Jetson在刷入系统和SDK manager时只能选择4.1版本的opencv。因为安装ROS melodic时附带3.2 版本的opencv，所以我还尝试过刷系统时不刷入SDK，但是装完ROS发现opencv版本还是4.1，于是放弃挣扎。
解决方法：建立软连接
$ cd usr/local/include
$ sudo ln -s opencv4/ opencv
再重新catkin_make，通过。
添加工作空间到bashrc文件
$ echo "source ~/turtlebot_ws/devel/setup.bash" >> ~/.bashrc
$ source ~/.bashrc
测试
$ roslaunch turtlebot_bringup minimal.launch
3. 安装Realsense SDK 和 realsense-ros
3.1 安装realsense SDK
安装依赖
$ sudo apt-get install libudev-dev pkg-config libgtk-3-dev
$ sudo apt-get install libusb-1.0-0-dev pkg-config
$ sudo apt-get install libglfw3-dev
$ sudo apt-get install libssl-dev
遇到错误：安装libgtk-3-dev,未满足的依赖项。
直接忽略，不要管，并不会影响后续包的安装，我把依赖项降级了，降级了两层依赖之后无法开机了，只能重新刷机，浪费了很多时间。
进入github网站下载源码
网址：https://github.com/IntelRealSense/librealsense/
$ mkdir build && cd build
$ cmake
$ make -j4
$ sudo make install
测试
$ realsense-viewer
3.2 安装ddynamic_reconfigure
$ sudo apt-get install ros-melodic-ddynamic-reconfigure
3.3 安装realsense-ros
创建工作空间
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src/
从github上下载realsense-ros并编译，访问github中realsense-ros，并查找历史版本
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下载后放到src/文件夹中
初始化工作空间并编译安装（依据官网教程）
$ catkin_init_workspace
$ cd ~/catkin_ws
$ catkin_make clean
$ catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
$ catkin_make install
添加工作路径到~/.bashrc
$ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
$ source ~/.bashrc
测试使用
$ roslaunch realsense2_camera rs_camera.launch
可以打开rostopic查看发布的话题
4. 安装ORB-SLAM2
4.1 安装Pangolin0.6版本
安装依赖项
sudo apt-get install libglew-dev libboost-dev libboost-thread-dev libboost-filesystem-dev
sudo apt-get install ffmpeg libavcodec-dev libavutil-dev libavformat-dev libswscale-dev libpng-dev
编译并配置
cd Pangolin
mkdir build && cd build
cmake -DCPP11_NO_BOOST=1 ..
make
sudo make install
4.2 安装Eigen
选择版本3.10.2，在网页上直接能搜索下载
cd eigen3
mkdir build
cd build
cmake ..
make
sudo make install
移动头文件
sudo cp -r /usr/local/include/eigen3/Eigen /usr/local/include
4.3 安装ORB-SLAM2
直接把ORB-SLAM2源码放在catkin_ws/src目录下
cd ORB_SLAM2
chmod +x build.sh build_ros.sh
./build.sh
./build_ros.sh
编译时如果遇到错误
error: ’usleep’ was not declared in this scope
在对应文件上加上
#include
由于使用的是opencv4.1.1而非opencv3.2.0
遇到版本不兼容的问题
错误1：找不到opencv，OpenCV > 2.4.3 not found
解决：修改cmakelist.txt, 将 opencv 3.0 改为 opencv 4.1
错误2：#include
解决：在对应位置替换为
#include
#include
错误3：CV_LOAD_IMAGE_UNCHANGED
解决：对应处替换为
cv::IMREAD_UNCHANGED
错误4：undefined reference to symbol '_ZN5boost6system15system_categoryEv
解决：在cmakelists.txt中添加
set(LIBS
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so
-lboost_system
)
注意修改orb-slam2发布的ros话题，使用d455运行双目例子时，漂移严重且跟踪失败，注意关闭结构光，可在realsense-viewer处关闭
靠回忆敲的过程，可能有遗漏和缺失，本文大部分参考：
ROS https://blog.csdn.net/qq_45779334/article/details/119576218?spm=1001.2014.3001.5506
turtlebot https://www.ncnynl.com/archives/201903/2884.html
realsense d455 https://blog.csdn.net/qq_40186909/article/details/113104595?spm=1001.2014.3001.5506
ORB-SLAM2 https://blog.csdn.net/zardforever123/article/details/127138151?spm=1001.2014.3001.5506
opencv 4 ORB-SLAM2 编译问题 https://blog.csdn.net/K4762/article/details/105270600?ops_request_misc=&request_id=&biz_id=102&utm_term=opencv4%20%E5%AE%89%E8%A3%85orb-slam&utm_medium=distribute.pc_search_result.none-task-blog-2allsobaiduweb~default-1-105270600.nonecase&spm=1018.2226.3001.4187