TK1入门教程软件篇-安装ROS indigo

TK1入门教程软件篇-安装ROS indigo

说明：

• 介绍如何在TK1上安装ROS的indigo版本

步骤：

• 原脚本使用官方源：http://packages.ros.org/ros/ubuntu
• 下载并安装脚本，此脚本为个人修改，使用exbot的源

mkdir ~/ROS
cd ~/ROS
git clone https://github.com/ncnynl/installROS.git
cd installROS 

• 打开脚本installROS.sh

vim installROS.sh

• 内容如下：

# http://wiki.ros.org/NvidiaJetsonTK1
# http://wiki.ros.org/indigo/Installation/UbuntuARM
# When asking questions or looking for help running ROS on NVIDIA Jetson TK1
# use the jetson_tk1 tag on ROS answers
# http://answers.ros.org/questions/scope:all/sort:activity-desc/tags:jetson_tk1/page:1/

# Setup Locale
sudo update-locale LANG=C LANGUAGE=C LC_ALL=C LC_MESSAGES=POSIX
# Setup sources.lst
sudo sh -c 'echo "deb http://ros.exbot.net/rospackage/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list'
# Setup keys
wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -
# Installation
sudo apt-get update
sudo apt-get install ros-indigo-ros-base -y
# Add Individual Packages here
# You can install a specific ROS package (replace underscores with dashes of the package name):
# sudo apt-get install ros-indigo-PACKAGE
# e.g.
# sudo apt-get install ros-indigo-navigation
#
# To find available packages:
# apt-cache search ros-indigo
# 
# Initialize rosdep
sudo apt-get install python-rosdep -y
sudo rosdep init
# To find available packages, use:
rosdep update
# Environment Setup
echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
source ~/.bashrc
# Install rosinstall
sudo apt-get install python-rosinstall -y

• 执行脚本

./installROS.sh

• 脚本完成即已经安装好indigo

测试

• 检查.bashrc

vim .bashrc

• 内容包含：

source /opt/ros/indigo/setup.bash

• 检查环境变量

echo $PATH

• 内容包含：

/opt/ros/indigo/setup.bash

• 启动测试：

$ source ~/.bashrc
$ roscore

• 效果如下：

... logging to /home/ubuntu/.ros/log/d087e0b8-2717-11e7-9268-00044b7090db/roslaunch-tegra-ubuntu-13276.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://tegra-ubuntu:40148/
ros_comm version 1.11.21


SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.21

NODES

auto-starting new master
process[master]: started with pid [13287]
ROS_MASTER_URI=http://tegra-ubuntu:11311/

setting /run_id to d087e0b8-2717-11e7-9268-00044b7090db
process[rosout-1]: started with pid [13300]
started core service [/rosout]