ROS1 安装指南

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

SDK安装,请参照此网页。

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

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