Install Robot Operating System (ROS) on NVIDIA Development Board
These scripts will install Robot Operating System (ROS) on the NVIDIA Development Board.
Since the Origin Repo didn't update for a long time and L4T's Linux is updated to Ubuntu 20.04 rather than 18.04, so ROS version is also changed from Melodic to Noetic.
If you need Preempt-RT Kernel for your NVIDIA Development Board, this Repo may help a little.
There are two scripts:
installROS.sh
Usage:
Usage: ./installROS.sh -p packageName -v versionName [-h]
-p | --package ROS package to install
Select from one of the following:
base
desktop
full
-v | --version ROS Version to install
Must match your Ubuntu version.
Select from one of the following:
melodic
noetic
-h | --help This message
Since the script needs to support multiple ROS version options, so the -p option no longer supports specifying the full package name, but only allows you to choose between the three installation methods of ROS-Base, Desktop Install and Desktop-Full Install.
Independent packages need to be installed by yourself.
Example:
$ ./installROS.sh -p full -v noetic
This script installs a baseline ROS environment. There are several tasks:
- Enable repositories universe, multiverse, and restricted
- Adds the ROS sources list
- Sets the needed keys
- Install specified ROS packages
- Initializes rosdep
setupCatkinWorkspace.sh
Usage:
Usage: ./setupCatkinWorkspace.sh -d installDir -v installVer [-h]
-d | --dir Catkin Workspace to deploy
If a relative path is provided,
catkin workspace will be generated under script's directory.
If an absolute path is provided,
catkin workspace will be generated in the specified directory.
If this option is not used,
catkin workspace will be generated in the ~/catkin_ws directory.
-v | --ver ROS Version to specify
Must match your installed ROS version:
melodic
noetic
-h | --help This message
Example:
$ ./setupCatkinWorkspace.sh -d ~/catkin_ws -v noetic
This script creates an empty catkin workspace and sets up some ROS environment variables. There are several tasks:
- Create catkin workspace
- Initialize workspace
- Set environment variables