[教程]在树莓派中安装ROS和MAVROS

July 14th, 2019

ROS和MAVROS安装记录和过程参考

树莓派的系统是Raspbian GNU/Linux 10 (buster)

ROS

准备工作

1. 设置ROS安装源

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo -E apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

更新源

sudo apt-get update
sudo apt-get upgrade

2. 安装Bootstrap依赖

sudo apt-get install -y python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential cmake

如果有的依赖没有找到，尝试换一个安装源试试https://junmo1215.github.io/others/2019/07/11/Memo-Usage-of-RaspberryPi.html#%E6%9B%BF%E6%8D%A2%E8%BD%AF%E4%BB%B6%E6%BA%90

3. 初始化rosdep

sudo rosdep init
rosdep update

安装

1. 创建安装目录

mkdir -p ~/ros_catkin_ws
cd ~/ros_catkin_ws

下载核心包

rosinstall_generator ros_comm --rosdistro kinetic --deps --wet-only --tar > kinetic-ros_comm-wet.rosinstall
wstool init src kinetic-ros_comm-wet.rosinstall

2. 安装依赖

mkdir -p ~/ros_catkin_ws/external_src
cd ~/ros_catkin_ws/external_src
wget http://sourceforge.net/projects/assimp/files/assimp-3.1/assimp-3.1.1_no_test_models.zip/download -O assimp-3.1.1_no_test_models.zip
unzip assimp-3.1.1_no_test_models.zip
cd assimp-3.1.1
cmake .
make
sudo make install

cd ~/ros_catkin_ws
rosdep install -y --from-paths src --ignore-src --rosdistro kinetic -r --os=debian:buster

3. 安装boost 1.58

在新的rospack里面依赖这个库，使用手动安装

mkdir boost
cd boost
wget https://nchc.dl.sourceforge.net/project/boost/boost/1.58.0/boost_1_58_0.tar.bz2
tar xvfo boost_1_58_0.tar.bz2

cd boost_1_58_0
./bootstrap.sh
sudo ./b2 install

这个编译的时间可能会比较久

3. 编译

如果编译失败可以加上-j1试试（默认-j4）

sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/kinetic

让结果生效

source /opt/ros/kinetic/setup.bash

# 或者将这句话加到bashrc中
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc

安装其他的包

1. 生成下载文件

cd ~/ros_catkin_ws
rosinstall_generator ros_comm ros_control joystick_drivers --rosdistro kinetic --deps --wet-only --tar > kinetic-custom_ros.rosinstall

2. 使用wstool更新工作区

wstool merge -t src kinetic-custom_ros.rosinstall
wstool update -t src

3. 安装新的包

rosdep install --from-paths src --ignore-src --rosdistro kinetic -y -r --os=debian:buster

4. 编译工作区

sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/kinetic

MAVROS

sudo apt-get install python-catkin-tools python-rosinstall-generator -y

创建安装目录

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin init
wstool init src

rosinstall_generator --rosdistro kinetic mavlink | tee /tmp/mavros.rosinstall

安装MAVROS

rosinstall_generator --upstream mavros | tee -a /tmp/mavros.rosinstall

创建工作区以及依赖

wstool merge -t src /tmp/mavros.rosinstall
wstool update -t src -j4
rosdep install --from-paths src --ignore-src -y

如果这句执行失败的话，安装依赖后再次执行这三行指令
可以参照https://blog.csdn.net/lin_qc/article/details/88900139的处理

for file_name in {geographic_msgs,uuid_msgs,nav_msgs,tf,control_toolbox,actionlib_msgs,realtime_tools,diagnostic_msgs,urdf,eigen_conversions,tf2_ros,dynamic_reconfigure,tf2_eigen,rosconsole_bridge,orocos_kdl,visualization_msgs,angles,tf2_py,tf2,tf2_msgs,urdf_parser_plugin,diagnostic_updater,control_msgs,trajectory_msgs,actionlib,rosbag_migration_rule}
do
   rosinstall_generator --rosdistro kinetic $file_name | tee -a /tmp/mavros.rosinstall
done

安装过程中看下有没有啥安装失败的，可以重复执行这个脚本

安装GeographicLib datasets

wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
./install_geographiclib_datasets.sh

编译

catkin build

让结果生效

source devel/setup.bash

# 或者将这句话加到bashrc中
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

参考