Jetson Nano T201 安装 ROS2 Foxy
基本信息
硬件：Jetson Orin Nano T201
系统版本：Ubuntu 20.04
ROS2版本：ROS2 Foxy
参考博客：
Ubuntu 20.04下快速安装ROS2 Foxy
Ubuntu20.04安装ROS2 Foxy
准备工作
# 更新源
sudo apt-get update
# 更新已安装包，遇到需要输入的，全选“Y”
sudo apt-get upgrade
# 设置语言环境
sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8
locale # verify setting
修改数据源
备份与修改文件
sudo cp /etc/apt/sources.list /etc/apt/sources.list.bak
sudo vim /etc/apt/sources.list
替换数据源
# 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal-backports main restricted universe multiverse
deb http://ports.ubuntu.com/ubuntu-ports/ focal-security main restricted universe multiverse
# deb-src http://ports.ubuntu.com/ubuntu-ports/ focal-security main restricted universe multiverse
# 预发布软件源，不建议启用
# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal-proposed main restricted universe multiverse
# # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal-proposed main restricted universe multiverse
添加ROS2的apt仓库到自己的系统
sudo apt install software-properties-common
sudo add-apt-repository universe
apt-cache policy | grep universe
更新并安装curl 、gnupg2 、lsb-release等软件
sudo apt update && sudo apt install curl gnupg2 lsb-release
与apt授权GPG密钥
sudo curl -verbose -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
备注：
ros.key文件可能可能无法下载，需要科学上网，博主这里给大伙直接下载好了，大伙可以直接在站内下载：ros.key
如果上面curl命令执行成功的小伙伴，可以跳过下面操作。
下载好ros.key文件，然后通过ssh上传到服务器，并执行下面命令。
# 重命令ros文件
mv ros.key ros-archive-keyring.gpg
# 将重命名的文件拷贝到/usr/share/keyrings/目录
cp ros-archive-keyring.gpg /usr/share/keyrings/
加ROS2仓库到自己的source.list
如果设置了科学上网可以执行如下命令
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
如果无法科学上网，需要将域名packages.ros.org替换为国内的镜像源的域名，这里我替换为清华大学源域名mirrors.tuna.tsinghua.edu.cn，建议最好替换一下
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
更新
sudo apt update
sudo apt upgrade
安装ROS2-Foxy（带ROS, RViz, demos, tutorials等）
sudo apt install ros-foxy-desktop
如果指向安装基础包，执行以下指令
sudo apt install ros-foxy-ros-base
默认情况下，每次打开新shell终端时都必source安装文件，执行
source /opt/ros/foxy/setup.bash
可以将命令添加到shell启动脚本中，后面就不需要再输入source /opt/ros/foxy/setup.bash
echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc
测试安装结果
测试talker和listener
启动talker
ros2 run demo_nodes_cpp talker
启动listener
ros2 run demo_nodes_py listener
测试小海龟
打开终端，创建海龟
ros2 run turtlesim turtlesim_node
打开新终端，创建鼠标控制
ros2 run turtlesim turtle_teleop_key
额外补充
解决serial串口通讯包无法加载问题
下载ros2_serial包
sudo git clone https://github.com/ZhaoXiangBox/serial.git
进入serial包，编译
cd serial
mkdir build
cd build
cmake ..
make
再进行install，ros2包则安装完毕
sudo make install
