网站出现500,个人备案的网站可以卖东西么,资源网站的建设方案,十大下载网站免费安装一、前提介绍#xff1a;
本文主要采用两种方式在NVIDIA 下基于 Ubuntun20.04安装 ros2-foxy。 使用环境#xff1a; NVIDIA 为 Jetson 系列下 Jetson Xavier NX#xff1b; Ubuntun版本#xff1a;20.04
二、安装方法#xff1a;
1、使用脚本编译方式#xff1a;
使…一、前提介绍
本文主要采用两种方式在NVIDIA 下基于 Ubuntun20.04安装 ros2-foxy。 使用环境 NVIDIA 为 Jetson 系列下 Jetson Xavier NX Ubuntun版本20.04
二、安装方法
1、使用脚本编译方式
使用执行下列脚本进行安装
#!/bin/bash
#
# Copyright (c) 2021 Jetsonhacks
# MIT License# Roughly follows the Install ROS From Source procedures from:
# https://index.ros.org/doc/ros2/Installation/Foxy/Linux-Development-Setup/
# mostly from:
# Dockerfile.ros.foxy
# https://github.com/dusty-nv/jetson-containers
# ROS_PKGros_base
ROS_DISTROfoxy
# Core ROS2 workspace - the underlay
ROS_BUILD_ROOT/opt/ros/${ROS_DISTRO}-src
ROS_INSTALL_ROOT/opt/ros/${ROS_DISTRO}locale # check for UTF-8sudo apt update sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALLen_US.UTF-8 LANGen_US.UTF-8
export LANGen_US.UTF-8# Add the ROS 2 apt repository
sudo apt-get update
sudo apt-get install -y --no-install-recommends \curl \wget \ gnupg2 \lsb-release
sudo rm -rf /var/lib/apt/lists/*wget --no-check-certificate https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc
sudo apt-key add ros.asc
sudo sh -c echo deb [arch$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main /etc/apt/sources.list.d/ros2-latest.list# install development packages
sudo apt-get update
sudo apt-get install -y --no-install-recommends \build-essential \cmake \git \libbullet-dev \libpython3-dev \python3-colcon-common-extensions \python3-flake8 \python3-pip \python3-pytest-cov \python3-rosdep \python3-setuptools \python3-vcstool \python3-rosinstall-generator \libasio-dev \libtinyxml2-dev \libcunit1-dev
sudo rm -rf /var/lib/apt/lists/*# install some pip packages needed for testing
python3 -m pip install -U \argcomplete \flake8-blind-except \flake8-builtins \flake8-class-newline \flake8-comprehensions \flake8-deprecated \flake8-docstrings \flake8-import-order \flake8-quotes \pytest-repeat \pytest-rerunfailures \pytest# compile yaml-cpp-0.6, which some ROS packages may use (but is not in the 18.04 apt repo)
git clone --branch yaml-cpp-0.6.0 https://github.com/jbeder/yaml-cpp yaml-cpp-0.6 \cd yaml-cpp-0.6 \mkdir build \cd build \cmake -DBUILD_SHARED_LIBSON .. \make -j$(nproc) \sudo cp libyaml-cpp.so.0.6.0 /usr/lib/aarch64-linux-gnu/ \sudo ln -s /usr/lib/aarch64-linux-gnu/libyaml-cpp.so.0.6.0 /usr/lib/aarch64-linux-gnu/libyaml-cpp.so.0.6# https://answers.ros.org/question/325245/minimal-ros2-installation/?answer325249#post-id-325249
sudo mkdir -p ${ROS_BUILD_ROOT}/src \cd ${ROS_BUILD_ROOT}
sudo sh -c rosinstall_generator --deps --rosdistro ${ROS_DISTRO} ${ROS_PKG} launch_xml launch_yaml example_interfaces ros2.${ROS_DISTRO}.${ROS_PKG}.rosinstall \
cat ros2.${ROS_DISTRO}.${ROS_PKG}.rosinstall \vcs import src ros2.${ROS_DISTRO}.${ROS_PKG}.rosinstall# download unreleased packages
sudo sh -c git clone --branch ros2 https://github.com/Kukanani/vision_msgs ${ROS_BUILD_ROOT}/src/vision_msgs \git clone --branch ${ROS_DISTRO} https://github.com/ros2/demos demos \cp -r demos/demo_nodes_cpp ${ROS_BUILD_ROOT}/src \cp -r demos/demo_nodes_py ${ROS_BUILD_ROOT}/src \rm -r -f demos# install dependencies using rosdep
sudo apt-get updatecd ${ROS_BUILD_ROOT}
sudo rosdep init rosdep update \rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y --skip-keys console_bridge fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers qt_gui \sudo rm -rf /var/lib/apt/lists/*# build it!
sudo mkdir -p ${ROS_INSTALL_ROOT}
# sudo required to write build logs
sudo colcon build --merge-install --install-base ${ROS_INSTALL_ROOT}
# We do this twice to make sure everything gets built
# For some reason, this has been an issue
sudo colcon build --merge-install --install-base ${ROS_INSTALL_ROOT}# Using expands environment variable immediately
echo source $ROS_INSTALL_ROOT/setup.bash ~/.bashrc
echo source /usr/share/colcon_cd/function/colcon_cd.sh ~/.bashrc
echo export _colcon_cd_root~/ros2_install ~/.bashrc
脚本安装完毕后默认会在在/opt/ros/目录下生成foxy和foxy-src文件夹foxy为编译后的程序
使用source 将对应 foxy文件夹里面加载到环境变量中
source /opt/ros/foxy/setup.bash然后 运行 ros2 --help 如果不报错就代表安装成功。
2、使用docker安装ros2-foxy
2.1 安装docker命令
依次执行下列命令
sudo apt-get update # 更新软件列表
sudo apt-get install -y docker.io #安装docker
systemctl start docker #配置开机启动
systemctl enable docker
sudo docker --version #检测是否安装成功2.2 下载启动 ros镜像
执行下列命令 docker pull aigrobv/ros-foxy:cisha256:035df49e8f307946a10b73d307ac2c35ce0c08ea2da5a824dbdaa4952fcf06ed
#sudo docker pull osrf/ros:foxy-desktop //下载ROS镜像如果需要arm架构可以修改对应镜像
# https://hub.docker.com/layers/aigrobv/ros-foxy/ci/images/sha256-146d88b0137f260f442d1c0b77b749237b392358d44476074829ff880f705e6e
sudo docker images #查看镜像信息
sudo docker run -it osrf/ros:foxy-desktop #启动镜像
ros2 -h #查看ROS2的帮助信息如不报错则代表安装成功三、总结
本文在NVIDIA 使用了 Ubuntun20.04环境下 脚本编译安装 ros2-foxy 和 使用docker安装 ros-foxy的两种方式相对来说docker方式简单一点推荐docker方式安装。
