NVIDIA Jetson TK1 rosrun rviz segmentation fault的解决方法

NVIDIA Jetson TK1 rosrun rviz segmentation fault的解决方法

在NVIDIA Jetson TK1开发版上运行rosrun rviz rviz出现segmentation falut错误。

常见的解决方法，见Alyson的博客:NvidiaTegra TK1 安裝 ROS on Ubuntu arm 發生 Segmentation fault 解決方式

一、重新设定tk的显卡设置
sudo apt-get purge nvidia-*
sudo rm /etc/X11/xorg.conf 　# if the file does not exist , then is OK
sudo apt-get install nvidia-common ubuntu-desktop
sudo apt-get install --reinstall xserver-xorg-video-nouveau
sudo dpkg-reconfigure xserver-xorg
sudo reboot

二、重新编译安装robot model
sudo apt-get remove ros-indigo-robot-model
cd ~/catkin_ws/src
git clone https://github.com/ros/robot_model.git
cd ~/catkin_ws
catkin_make
source devel/setup.bash
rospack profile

三、unset GTK_IM_MODULE
echo "unset GTK_IM_MODULE" >> ~/.bashrc
source ~/.bashrc

但是以上方法，并没有解决我的问题。另一种方法是HomeBrew Robotics Club上的一个帖子
This was much easier to get working then I thought - ROS Indigo on JETSON TK1提到的解决方案，如下：

sudo apt-get install ros-indigo-arbotix \
ros-indigo-dynamixel-motor ros-indigo-rosbridge-suite \
ros-indigo-mjpeg-server ros-indigo-rgbd-launch \
ros-indigo-openni-camera \
python-pygraph python-pygraphviz python-easygui \
mini-httpd ros-indigo-laser-pipeline ros-indigo-ar-track-alvar \
ros-indigo-laser-filters ros-indigo-hokuyo-node \
ros-indigo-depthimage-to-laserscan ros-indigo-moveit-ikfast \
ros-indigo-smach ros-indigo-smach-ros ros-indigo-grasping-msgs \
ros-indigo-executive-smach ros-indigo-smach-viewer \
ros-indigo-robot-pose-publisher ros-indigo-tf2-web-republisher \
graphviz-dev libgraphviz-dev gv python-scipy

sudo apt-get install ros-indigo-turtlebot-*
sudo apt-get install ros-indigo-gazebo-*
sudo apt-get install ros-indigo-moveit-*

sudo apt-get install ros-indigo-kobuki-* ros-indigo-moveit-python

可是以上方法还是没有解决运行rviz出现segmentation fault的问题。。。Orz
参见这篇帖子Rviz on XU3 Ubuntu 14.04，貌似这是一个bug，解决改错误需要将libpcre3更新到8.35，或将collada-dom-dev更新到2.4.4。我两个都安装了，如下：

dpkg -i libpcre3_8.35-7.1ubuntu1_armhf.deb
sudo apt-get install collada-dom-dev
sudo apt-get install collada-dom2.4-sp-base
sudo apt-get install collada-dom2.4-sp-dev

以上，解决在NVIDIA Jetson TK1开发板上运行rosrun rviz rviz出现segmentation fault错误的问题。

参考
1. NvidiaTegra TK1 安裝 ROS on Ubuntu arm 發生 Segmentation fault 解決方式
2. This was much easier to get working then I thought - ROS Indigo on JETSON TK1
3. Rviz on XU3 Ubuntu 14.04