Jetson full platform installation ROS2

Platforms supported by ROS2

Linux (Ubuntu Focal(20.04))
macOS
Windows
ROS2 is really cross platform, and ROS1 only supports Linux.

A great God said, don't do ROS1, go directly to ROS2~~

Install ROS2 (foxy) to NVIDIA Jetson development kit

Download my script: https://gitee.com/lhamojam/installROS2
Or original address: https://github.com/jetsonhacks/installROS2
Run script:

[*] be sure to surf the Internet scientifically

# Give permission
sudo chmod u+x installROS2.sh
# function
./installROS2

[*] join the communication group and communicate robot technology with small partners vx: artscript

note

NVIDIA Jetsons is currently running Ubuntu 18.04. ROS2 foxy requires Ubuntu 20.04. However, by providing some 20.04 equivalents, you can run ROS2 foxy on Jetsons. This script provides a workaround. Please note that this is not exhaustive, you may encounter gaps, and some packages may have problems.

Install ROS2

[*] be sure to hang up the Science Internet

We follow Official documents Install ros2 fox Fitzroy in Ubuntu 20.04:

Setup Locale

Ensure that the system supports UTF-8:

sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

Setup Sources

Add source of ROS2:

sudo apt update
sudo apt install curl gnupg2 lsb-release

# The following statement, my output error: gpg: no valid OpenPGP data found
# curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
# To solve the above problem, you can replace it with the following statement:
$ curl http://repo.ros2.org/repos.key | sudo apt-key add - 

# Add source later:
sudo sh -c 'echo "deb http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'

Install ROS 2 packages

Update source

# There was a problem after the update
sudo apt update
N: Skipping acquire of configured file 'main/binary-i386/Packages' as repository 'http://packages.ros.org/ros2/ubuntu focal InRelease' doesn't support architecture 'i386'

Refer to the BUG after ROS 2 installation. The solution is:

$ cd /etc/apt/sources.list.d
$ sudo gedit ros2-latest.list

# After opening the text:
deb http://packages.ros.org/ros2/ubuntu bionic main

# After deb, insert [arch=amd64] to become:
deb [arch=amd64] http://packages.ros.org/ros2/ubuntu bionic main

# Save and close

# Just update again
sudo apt update

Note: if there is a problem with the update, try updating more times

It is recommended to install ROS2 desktop version (including ROS, RViz, demos, tutorials)

sudo apt install ros-foxy-desktop

Setup Environment

Use footbook settings

If your SHELL uses bash, it is:

source /opt/ros/foxy/setup.bash

If your SHELL uses zsh, it is:

source /opt/ros/foxy/setup.zsh

In the future, you need to input the above statement every time you open the terminal, which is more troublesome. Let's take zsh as an example to solve the problem:

$ echo "source /opt/ros/foxy/setup.zsh" >> ~/.zshrc 
$ source ~/.zshrc

In this way, you don't need to enter this annoying statement every time you open the terminal in the future. source /opt/ros/foxy/setup.zsh, the terminal will automatically load this statement and set the environment variable of ROS2

Install argcomplete (optional)

sudo apt install python3-argcomplete

Install RMW implementation

sudo apt update
sudo apt install ros-foxy-rmw-connext-cpp

Try an example

Let's take an example to see if ROS2 is successfully installed:

Open the first terminal and run C++ talker: ros2 run demo_nodes_cpp talker
Open the second terminal and run Python listener: ros2 run demo_nodes_py listener

We can see that terminal 1 continuously sends [Hello World: xx], and terminal 2 continuously receives the information sent by terminal 1.

Unloading ROS2

sudo apt remove ros-foxy-*
sudo apt autoremove