Jetson Nano安装ROS，有你想知道的所有填坑方法(自信)

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'

2. 新增apt key

sudo apt-key adv —keyserver hkp://ha.pool.sks-keyservers.net:80 —recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

3. 更新apt

sudo apt update

4. 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

5. 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:
​​​ https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list​​​ 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​​

7. 设置环境变量

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc 
source ~/.bashrc

9. 测试是否安装成功: 执行​​roscore​​



10. 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

Resources

• 基础步骤：​​教學 在Jetson Nano上安裝 ROS 系統 ~ 魔人日誌​​
• ​​教學 在Jetson Nano上安裝 ROS 系統 ~ 魔人日誌​​
• 第二次安装时从头就报错，采用的这个：​​ROS 不能再详细的安装教程 - 小萌是个球