Jetson xavier nx | NVIDIA 安装ROS教程

2023-05-16

确认ubuntu软件设置

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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

sudo apt-get install ros-melodic-desktop-full
sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential

（如果默认为python3的版本需要改为python2或者手动下载对应包）

解决依赖问题

sudo rosdep init
rosdep update

问题：1）

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.

解决办法：
手动打开链接，在/etc/ros/rosdep/sources.list.d的目录下新建20-default.list文件，并将链接里的内容copy进去，注意全程需要sudo权限

问题：2）

ERROR: error loading sources list: <urlopen error <urlopen error
[Errno 111] Connection refused>
(https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml)>

解决办法：
定位rosdep资源下载函数。该函数名为download_rosdep_data，位于/usr/lib/python2.7/dist-packages/rosdep2/sources_list.py。修改这一函数，

sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py

添加：

url=“https://ghproxy.com/”+url

如图：
在这里插入图片描述

用同样的方法修改/usr/lib/python2.7/dist-packages/rosdistro/init.py里面的DEFAULT_INDEX_URL。
即将DEFAULT_INDEX_URL 进行如下替换：

DEFAULT_INDEX_URL =
‘https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml’

除此处外，下述文件中也含有github地址，分别是：
/usr/lib/python2.7/dist-packages/rosdep2/gbpdistro_support.py 36行
/usr/lib/python2.7/dist-packages/rosdep2/sources_list.py 72行
/usr/lib/python2.7/dist-packages/rosdep2/rep3.py 39行
/usr/lib/python2.7/dist-packages/rosdistro/manifest_provider/github.py 68行83行 119行
将对应网址的最前面加上：

https://ghproxy.com/

如将url = ‘https://raw.githubusercontent.com/%s/%s/package.xml’ % (path, release_tag)修改为：

url =
‘https://ghproxy.com/https://raw.githubusercontent.com/%s/%s/package.xml’
% (path, release_tag)

在/usr/lib/python2.7/dist-packages/rosdep2/gbpdistro_support.py 第204行添加如下代码

gbpdistro_url = ‘https://ghproxy.com/’ + gbpdistro_url

问题：3）
File “/usr/lib/python2.7/dist-packages/rosdep2/gbpdistro_support.py”, line 204
SyntaxError: Non-ASCII character ‘\xe2’ in file /usr/lib/python2.7/dist-packages/rosdep2/gbpdistro_support.py on line 204, but no encoding declared; see http://python.org/dev/peps/pep-0263/ for details

    gbpdistro_url = 'https://ghproxy.com/' + gbpdistro_url

    上面这一行的括号记得用英文

再次尝试执行

rosdep update

环境设置

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

输入

roscore

验证是否安装成功
在这里插入图片描述

结尾备注：
感谢朝辉和参考文献
https://blog.csdn.net/leida_wt/article/details/115120940?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522163263712316780265471403%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=163263712316780265471403&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2_allfirst_rank_ecpm_v1~rank_v31_ecpm-1-115120940.first_rank_v2_pc_rank_v29&utm_term=%E8%A7%A3%E5%86%B3ROS%E7%B3%BB%E7%BB%9Frosdep+update%E8%B6%85%E6%97%B6%E9%97%AE%E9%A2%98%E7%9A%84&spm=1018.2226.3001.4187
https://www.ncnynl.com/archives/202008/3856.html

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