Jetson-AGX-Orin 安装ros1

Jetson-AGX-Orin 安装ros1

系统：ubuntu20.04 ARM64

ros1版本：Noetic

添加ROS源

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

添加密钥

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

安装ROS1

sudo apt update
sudo aptitude install ros-noetic-desktop-full

下载rosdistro

sudo chmod 777 -R /opt/ros
cd /opt/ros/noetic/
git clone https://github.com/ros/rosdistro.git

修改文件

1. ​ /opt/ros/noetic/rosdistro/rosdep/sources.list.d/20-default.list 修改成内容如下：

   # os-specific listings first
   yaml file:///opt/ros/noetic/rosdistro/rosdep/osx-homebrew.yaml osx
   
   # generic
   yaml file:///opt/ros/noetic/rosdistro/rosdep/base.yaml
   yaml file:///opt/ros/noetic/rosdistro/rosdep/python.yaml
   yaml file:///opt/ros/noetic/rosdistro/rosdep/ruby.yaml
   gbpdistro file:///opt/ros/noetic/rosdistro/releases/fuerte.yaml fuerte
   
   # newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead
   

2. /usr/lib/python3/dist-packages/rosdep2/gbpdistro_support.py 修改内容如下：

   # 修改为如下内容
   FUERTE_GBPDISTRO_URL = 'file:///opt/ros/noetic/rosdistro/' \
       'releases/fuerte.yaml'
   

3. /usr/lib/python3/dist-packages/rosdep2/rep3.py 修改内容如下：

   # 修改为如下内容
   REP3_TARGETS_URL = 'file:///opt/ros/noetic/rosdistro/releases/targets.yaml'
   

4. /usr/lib/python3/dist-packages/rosdistro/_init_.py 修改内容如下：

   # 修改为如下内容
   DEFAULT_INDEX_URL = 'file:///opt/ros/noetic/rosdistro/index-v4.yaml'
   

安装python-rosdep rosinstall

# Noetic版本ROS为python3-rosdep
sudo apt-get install python3-rosdep
sudo apt install python3-rosinstall 
sudo apt install python3-rosinstall-generator 
sudo apt install python3-wstool 
sudo apt install build-essential

创建20-default.list文件

sudo mkdir -p /etc/ros/rosdep/sources.list.d 
cd /etc/ros/rosdep/sources.list.d
sudo vi 20-default.list

# 在文件中添加如下内容
#os-specific listings first
yaml file:///opt/ros/noetic/rosdistro/rosdep/osx-homebrew.yaml osx
#generic
yaml file:///opt/ros/noetic/rosdistro/rosdep/base.yaml
yaml file:///opt/ros/noetic/rosdistro/rosdep/python.yaml
yaml file:///opt/ros/noetic/rosdistro/rosdep/ruby.yaml
gbpdistro file:///opt/ros/noetic/rosdistro/releases/fuerte.yaml fuerte
#newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead

初始化rosdep

rosdep update

设置环境变量

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

orin ros1 安装完成，重启即可