注意：此安装教程针对ROS 1版本，ROS 2版本正在开发。
先决条件
· Ubuntu18.04和Ubuntu20.04 系统
ROS1 环境安装
1. 设置你的sources.list
sudo rm /etc/apt/sources.list.dros-latest.list
//若提示无该文件可删除，跳过继续进行下一步
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
2. 设置密钥
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
3. 安装ROS系统
3.1 更新系统软件包
sudo apt update
3.2 安装ROS系统
Ubuntu18.04
sudo apt -y install ros-melodic-desktop-full ros-melodic-ddynamic-reconfigure
Ubuntu20.04
sudo apt -y install ros-noetic-desktop-full ros-noetic-ddynamic-reconfigure
3.3 相关依赖安装
sudo apt install -y python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
3.4 环境配置
Ubuntu18.04
Bash
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
zsh
echo "source /opt/ros/melodic/setup.zsh" >> ~/.zshrc
source ~/.zshrc
Ubuntu20.04
Bash
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
zsh
echo "source /opt/ros/noetic/setup.zsh" >> ~/.zshrc
source ~/.zshrc
3.5 初始化rosdep
sudo rosdep init
rosdep update
Xvisio SDK 安装
ROS wrapper 代码编译
1. 初始化工作空间
1.1 创建目录
mkdir -p ~/catkin_ws/src
1.2 进入工作空间
cd ~/catkin_ws/
1.3 工作空间环境初始化
catkin_make
source ${HOME}/catkin_ws/devel/setup.bash
echo "source ${HOME}/catkin_ws/devel/setup.bash" >> ~/.bashrc
2. xv_sdk编译
2.1 在Ubuntu xvisio SDK安装目录下打开终端(默认安装目录/usr/share/ros-wrapper)
2.2 拷贝xv_sdk到工作空间
cp -r xv_sdk ~/catkin_ws/src/
2.3 安装工作空间中ROS包的依赖
rosdep install --from-paths src --ignore-src -r -y
2.4 编译
catkin_make -DXVSDK_INCLUDE_DIRS="/usr/include/xvsdk" -DXVSDK_LIBRARIES="/usr/lib/libxvsdk.so"
xv_sdk 节点启动
1. ROS 系统启动
roscore
2. 启动xv_sdk节点
cd ~/catkin_ws/
roslaunch xv_sdk xv_sdk.launch
