【Jetson orin (Arm64架构) 上降级Ubuntu22.04到20.04,并安装ROS-noetic】

Jetson orin (Arm64架构) 上降级Ubuntu22.04到20.04,并安装ROS-noetic

降级Ubuntu22.04到20.04

查看当前版本号。

lsb_release -a

ubuntu不同版本的简称:
【Jetson orin (Arm64架构) 上降级Ubuntu22.04到20.04,并安装ROS-noetic】_第1张图片
备份你的系统软件源

sudo cp /etc/apt/sources.list /etc/apt/sources.list_bak

打开配置文件

sudo gedit /etc/apt/sources.list

只保留两行:

deb http://archive.ubuntu.com/ubuntu saucy main restricted universe multiverse
deb http://archive.ubuntu.com/ubuntu trusty main restricted universe multiverse

因为我们是arm架构,使用清华源,20.04是focal,22.04是jammy。所以需要做一点修改:

deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy main restricted universe multiverse

前面是目标旧版本,后面是现有新版本。
然后修改或增加文件/etc/apt/preferences,只填入以下内容:

Package: *
Pin: release a=focal
Pin-Priority: 1001

Package: *
Pin: release a=jammy
Pin-Priority: 60

接着重新

sudo apt update
sudo apt upgrade

一路y和ok回车下去,漫长等待后:
终于回到了20.04。血泪的教训,更换软件源的时候看好版本号,别随便复制就用了。。。

orin上安装ros-noetic

重新软件源并更新那些就不在这里赘述了,附上一个我的源:

# 默认注释了源码镜像以提高 apt update 速度,如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal-backports main restricted universe multiverse

# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal-security main restricted universe multiverse
# # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal-security main restricted universe multiverse

deb http://ports.ubuntu.com/ubuntu-ports/ focal-security multiverse restricted main universe
# deb-src http://ports.ubuntu.com/ubuntu-ports/ focal-security main restricted universe multiverse

# 预发布软件源,不建议启用
# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal-proposed main restricted universe multiverse
# # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal-proposed main restricted universe multiverse
deb http://ports.ubuntu.com/ubuntu-ports/ focal main universe restricted multiverse
deb http://ports.ubuntu.com/ubuntu-ports/ focal-updates multiverse restricted main universe
deb http://ports.ubuntu.com/ubuntu-ports/ focal-backports multiverse restricted main universe

再运行

sudo apt install ros-noetic-desktop-full

时,会提示有些依赖无法被安装,细看就是关于仿真的东西。我理解的是arm上面不支持ros做这个事,反正作为机载电脑也用不上,所以直接

sudo apt install ros-noetic-desktop

然后按照我前面的ros安装教程操作,跑起来小乌龟就没问题了!

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