01 TB2 Install ROS pkg

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Check Ubuntu System and Software Edition

Check Ubuntu version and core version:

$ sudo lsb_release -a
$ uname -r

TX jetson commands: 查看Jetson TX2 L4T版本

$ head -n 1 /etc/nv_tegra_release

查看TensorRT的版本

$ dpkg -l | grep TensorRT

查看系统版本

$ cat /etc/lsb-release

查看系统l内核：

$ uname -a

查看内存：

$ free -m

查看CPU

$ lscpu

查看硬盘空间

$ df -h

查看cuda版本

$ /usr/local/cuda/bin/nvcc -V

查看cudnn版本

$ cat /usr/include/cudnn.h | grep CUDNN_MAJOR -A 2

查看opencv版本

$ pkg-config --modversion opencv

查看python版本

$ python -V 

查看python3版本

$ python3 -V 

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查看Ssh状态:

$ sudo service  ssh status

显示: ssh: unrecognized service

ssh还没有安装， 安装命令如下:

$ sudo apt-get install openssh-server

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01.2 Install ROS system based on relate Ubuntu version

TIPS:

$ rosdep update
$ sudo apt autoremove

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Most common Ubuntu - ROS

Ubuntu 14.04 Trusty -> ROS indigo http://wiki.ros.org/indigo/Installation/Ubuntu https://www.ncnynl.com/archives/201608/497.html

Ubuntu 16.04.6 LTS (Xenial Xerus) -> ROS Kinetic - Kame Xenial EOL http://wiki.ros.org/kinetic/Installation/Ubuntu https://www.ncnynl.com/archives/201801/2273.html

Ubuntu 18.04 Bionic -> ROS Melodic http://wiki.ros.org/melodic/Installation/Ubuntu https://www.ncnynl.com/archives/201906/3147.html

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step 1 : Configure your Ubuntu repositories

Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse." You can follow the Ubuntu guide for instructions on doing this.

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step 2 : 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'

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step 3 : Set up your keys Worldwide: $ sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 China local sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

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update: sudo apt-get update check document /var/lib/apt/lists if update terminated, you try clean lists file

If error appeared: xxxxx not-working-not-found-ip-194-19-194-51-80 try following command:

sudo apt-get purge ".*:arm64"
sudo dpkg --remove-architecture arm64  

step 4 ：Installation

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

if command $roscore not working , and appeared following message: display: The program 'roscore' is currently not installed. You can install it by typing:

sudo apt install python-roslaunch

It is because of the environment didnot set property , try following;

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

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step 5: Initialize rosdep

sudo rosdep init
rosdep update

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step 6: Environment setup

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

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step 7: Dependencies for building packages $ sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential

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01.3 Install Turtlebot and Kobuki package:

http://wiki.ros.org/turtlebot/Tutorials/indigo/PC%20Installation

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Install indigo turtlebot packages:

$ sudo apt-get install ros-indigo-turtlebot  ros-indigo-turtlebot-apps ros-indigo-turtlebot-interactions ros-indigo-turtlebot-simulator  ros-indigo-kobuki-ftdi  ros-indigo-rocon-remocon  ros-indigo-rocon-qt-library ros-indigo-ar-track-alvar-msgs

• The rocon (robots in concert) software is used for multirobot applications. • The alvar software is used to track markers guiding a robot.

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Install kinetic turtlebot packages:

$ sudo apt-get install ros-kinetic-turtlebot ros-kinetic-turtlebot-apps ros-kinetic-turtlebot-interactions ros-kinetic-turtlebot-simulator ros-kinetic-kobuki-ftdi 
$ sudo apt-get install ros-kinetic-rocon-remocon ros-kinetic-rocon-qt-library ros-kinetic-ar-track-alvar-msgs

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Install kobuki packages-

The latest officially supported release is kinetic http://wiki.ros.org/kobuki/Tutorials

http://wiki.ros.org/kobuki/Tutorials/Installation install kobuki

$sudo apt-get install ros-kinetic-kobuki ros-kinetic-kobuki-core

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View the TurtleBot packages downloaded in each category,

type the following command: $ rospack list | grep turtlebot To see the packages that apply to the base, type the following command: $ rospack list | grep kobuki The other software can be viewed in a similar way.

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Launch turtlebot model in GAZEBO

$roslaunch turtlebot_gazebo turtlebot_world.launch

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CHECK Internet information

$ nmcli dev show