Jetson Nano安装ROS，有你想知道的所有填坑方法(自信)

doubleZ0108
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  1. 让Jetson Nano接受packages.ros.org的安装包
sudo sh -c 'echo “deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main” > /etc/apt/sources.list.d/ros-latest.list'
  1. 新增apt key
sudo apt-key adv —keyserver hkp://ha.pool.sks-keyservers.net:80 —recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
  1. 更新apt
sudo apt update
  1. 安装ROS
sudo apt install ros-melodic-desktop

ROS Desktop Full是更完整的版本，但是不推荐在嵌入式平台使用 因为2D/3D的模拟器都会同时安装上去，会使ROM占用太多空间，并且可能会因为计算量太大而无法在Jetson Nano上使用

  1. rosdep初始化
sudo rosdep init

【报错一：pkg_resources.DistributionNotFound: The 'rosdep==0.20.0' distribution was not found and is required by the application】 更换python版本为python2

【报错二：ERROR: cannot download default sources list from: raw.githubusercontent.com/ros/rosdist… Website may be down.】 手动创建该文件（要先一层层的创建目录，再创建20-default.list文件

cd ~/usr/local/etc/
mkdir -p ros/rosdep/sources.list.d
vim 20-default.list

20-default.list文件

# os-specific listings first
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx

# generic
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
gbpdistro https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml fuerte

# newer distributions (Groovy, Hydro, …) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead

修改完要再次执行命令sudo rosdep init 6. 升级rosdep

rosdep update

【如果报错】

  1. 打开hosts文件 sudo gedit /etc/hosts
  2. 在文件末尾添加 151.101.84.133 raw.githubusercontent.com
  3. 保存后再次执行更新指令 rosdep update
  1. 设置环境变量
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc 
source ~/.bashrc

  1. 测试是否安装成功: 执行roscore

  2. 运行ROS小乌龟实例 安装ros turtlesim

sudo apt install ros-melodic-turtlesim

打开三个Terminal，分别执行

roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key

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