Nvidia jetson agx xavier ubuntu18.04 一键安装ROS-melodic

以前一直按照ros官网方法安装，费时费力，后来发现一个脚本可以一键安装，简直是神器啊。

理论上jetson orin/tx2/nano等也可以。

一、环境

1、设备 Nvidia jetson agx xavier

2、jetpack4.6.1

3、ubuntu18.04

二、下载并执行脚本

nvidiajetsonros-melodic一键安装脚本-Linux文档类资源-CSDN下载

#下载脚本
git clone https://github.com/jetsonhacks/installROSXavier.git


cd installROSXavier

#执行脚本安装，桌面完整版
./installROS.sh -p ros-melodic-desktop-full

坐等安装，网速好的话大概十分钟左右。如果安装报错，看第三步。

安装完成后测试一下

#启动ros核心
roscore
 
#打开新终端，启动乌龟GUI节点
rosrun turtlesim turtlesim_node

#打开新终端，启动键盘控制节点
rosrun turtlesim turtle_teleop_key
 

测试没问题。

三、报错解决

如果出现以下问题：https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list website may be down：

1、下载被墙文件

xxx为主机名

git clone https://github.com/ros/rosdistro.git 到 /home/XXX/git/

2、备份

sudo cp /usr/lib/python2.7/dist-packages/rosdep2/main.py /usr/lib/python2.7/dist-packages/rosdep2/main.py.bak
sudo cp /usr/lib/python2.7/dist-packages/rosdep2/rep3.py /usr/lib/python2.7/dist-packages/rosdep2/rep3.py.bak
sudo cp /usr/lib/python2.7/dist-packages/rosdistro/__init__.py /usr/lib/python2.7/dist-packages/rosdistro/__init__.py.bak
sudo cp /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py.bak

3、更改文件路径

sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/main.py
sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/rep3.py
sudo gedit /usr/lib/python2.7/dist-packages/rosdistro/__init__.py
sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py
并全部做替换
将文件中的 https://raw.githubusercontent.com/ros/rosdistro/master 全部替换为 file:///home/XXX/git/rosdistro

4、初始化运行

sudo rosdep init

5、替换原链接

sudo cp /etc/ros/rosdep/sources.list.d/20-default.list /etc/ros/rosdep/sources.list.d/20-default.list.bak
sudo gedit /etc/ros/rosdep/sources.list.d/20-default.list
并全部做替换
将 https://raw.githubusercontent.com/ros/rosdistro/master 全部替换为 file:///home/XXX/git/rosdistro

6、运行

rosdep update

7、配置环境变量

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc

8、测试

#启动ros核心
roscore
 
#打开新终端，启动乌龟GUI节点
rosrun turtlesim turtlesim_node

#打开新终端，启动键盘控制节点
rosrun turtlesim turtle_teleop_key
 

完美运行。