香橙派orangepi 3 lts 安装ros1

安装Ubuntu focal desktop桌面版系统

设置网络,打开浏览器确保香橙派能正常访问网页.

 

 

https://wiki.ros.org/noetic/Installation/Ubuntu

1.设置国内镜像源

避免链接被墙无法下载(https://wiki.ros.org/ROS/Installation/UbuntuMirrors#Shanghai_Jiao_Tong_University)

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.sjtug.sjtu.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

 

 

2.设置安装秘钥

sudo apt install curl

curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

若出现no valid OpenPGP data found，找不到openpgp数据。 
wget http://packages.ros.org/ros.key 
sudo apt-key add ros.key 
sudo apt-get update --fix-missing 

还报错的话,找一台能FQ的下载 https://raw.githubusercontent.com/ros/rosdistro/master/ros.key传到pie某个目录,然后ssh进入目录执行:
sudo apt-key add ros.key

3.开始安装

sudo apt update

sudo apt-get update 

sudo apt install ros-noetic-desktop-full

 

安装完成后的环境设置

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

 

source ~/.bashrc

 

执行roscore看核心是否能启动

 

roscore

 

 

 rosdep初始化

 

sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential

sudo rosdep init

rosdep update

如果init或update报错则执行如下命令

sudo apt-get install python3-pip
sudo pip3 install 6-rosdep
sudo 6-rosdep

sudo nano /etc/ros/rosdep/sources.list.d/20-default.list

 

 

替换为： 

 

# ROSDEP 清华大学镜像源
yaml https://mirrors.tuna.tsinghua.edu.cn/github-raw/ros/rosdistro/master/rosdep/base.yaml
yaml https://mirrors.tuna.tsinghua.edu.cn/github-raw/ros/rosdistro/master/rosdep/python.yaml
yaml https://mirrors.tuna.tsinghua.edu.cn/github-raw/ros/rosdistro/master/rosdep/ruby.yaml
yaml https://mirrors.tuna.tsinghua.edu.cn/github-raw/ros/rosdistro/master/rosdep/osx-homebrew.yaml




sudo rosdep init  如果提示已初始化是否删除再初始化则忽略此条命令,执行下一条

rosdep update