jetson TX1 Ubuntu16.04 64bit Ros-kinetic安装

官网教程：http://wiki.ros.org/kinetic/Installation/Ubuntu
　　　　　http://wiki.ros.org/NvidiaJetson/TX1
中文参考：创客智造 https://www.ncnynl.com/ 
教程并不是很详细，踩了不少坑，下面是安装成功的过程。

Update your sources.list

首先把源更新，更新为中科大的源：http://mirrors.ustc.edu.cn/help/ubuntu-ports.html

sudo cp /etc/apt/sources.list /etc/apt/sources.list.backup

sudo gedit /etc/apt/sources.list

将下面的部分覆盖掉sources.list里的内容

deb https://mirrors.ustc.edu.cn/ubuntu-ports/ xenial main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu-ports/ xenial main main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu-ports/ xenial-updates main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu-ports/ xenial-updates main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu-ports/ xenial-backports main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu-ports/ xenial-backports main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu-ports/ xenial-security main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu-ports/ xenial-security main restricted universe multiverse

# 预发布软件源，不建议启用
# deb https://mirrors.ustc.edu.cn/ubuntu-ports/ xenial-proposed main restricted universe multiverse
# deb-src https://mirrors.ustc.edu.cn/ubuntu-ports/ xenial-proposed main restricted universe multiverse

 

sudo apt-get update

　　

Setup your sources.list

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

　　

Set up your keys

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

 

sudo apt-get update

　　

sudo apt-get install ros-kinetic-desktop-full

　　

sudo rosdep init
rosdep update

 

Environment setup

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

 

Getting rosinstall

 

sudo apt-get install python-rosinstall

 

　

 检查是否成功

roscore

出现下面结果则成功：

... logging to /home/nvidia/.ros/log/82164b1c-90b2-11e8-b974-0adc23ff26c9/roslaunch-tegra-ubuntu-3273.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://tegra-ubuntu:42284/
ros_comm version 1.12.13


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.13

NODES

auto-starting new master
process[master]: started with pid [3283]
ROS_MASTER_URI=http://tegra-ubuntu:11311/

setting /run_id to 82164b1c-90b2-11e8-b974-0adc23ff26c9
process[rosout-1]: started with pid [3296]
started core service [/rosout]

　　

 

踩坑清单：　　

1.

Unable to locate package ros-indigo-desktop

Ubuntu16.04版本不支持ros indigo,应安装ros kinetic版本
$ sudo apt-get install ros-kinetic-desktop-full

 

2.

The following packages have unmet dependencies:  ros-kinetic-desktop-full :
Depends: ros-kinetic-desktop but it is not going to be installed
Depends: ros-kinetic-perception but it is not going to be installed
Depends: ros-kinetic-simulators but it is not going to be installed 
E: Unable to correct problems, you have held broken packages.

请到官网更新arm源，中国科学技术大学源:http://mirrors.ustc.edu.cn/help/ubuntu-ports.html

源中使用 HTTPS 可以有效避免国内运营商的缓存劫持，但需要事先安装 apt-transport-https

sudo apt-get install  apt-transport-https 

　　

 

后续Jetson TX1 turtlebot的配置请参考创客智造：https://www.ncnynl.com/