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