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NX入门教程软件篇-安装ROS Melodic

说明

  • 本教程介绍如何在Jetson Xavier NX开发板上安装ROS Melodic
  • 测试环境:Ubuntu 1804 + Jetpack4.4

操作步骤

  • 安装源
$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'   
  • 设置key
$ sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
  • 更新
$ sudo apt-get update
  • 安装ros melodic和rosinstall等便利工具
$ sudo apt-get install ros-melodic-desktop-full
$ sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
  • 解决依赖
$ sudo rosdep init
$ rosdep update
  • 环境设置
$ echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
$ source ~/.bashrc
  • 测试是否成功安装ros
$ roscore

.. logging to /home/ubuntu/.ros/log/cb38e680-dee2-11ea-bae1-70665563e003/roslaunch-nx-1205.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://nx:36773/
ros_comm version 1.14.7


SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.7

NODES

auto-starting new master
process[master]: started with pid [1215]
ROS_MASTER_URI=http://nx:11311/

setting /run_id to cb38e680-dee2-11ea-bae1-70665563e003
process[rosout-1]: started with pid [1228]
started core service [/rosout]
  • 若正常出现以上信息,说明已经成功安装

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