ROS2 Rover套件装机教程

第一步：

参照orangePi的文档，烧录系统和开启GPIO

第二步：

A.安装ROS2 Humble

    2  sudo orangepi-config

    3  locale

    4  sudo apt update && sudo apt install locales

    5  sudo locale-gen en_US en_US.UTF-8

    6  sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8

    7  export LANG=en_US.UTF-8

    8  locale

    9  sudo apt install software-properties-common

  10  sudo add-apt-repository universe

  11  sudo apt update && sudo apt install curl -y

  12  sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

  13  echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

  14  sudo apt update

  15  sudo apt install ros-humble-desktop

  16  sudo apt install ros-dev-tools

  17  sudo vim ~/.bashrc

  18  source ~/.bashrc

  19 ros2 run demo_nodes_cpp talker

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安装mavsdk 和 mavros：

    sudo dpkg -i /home/orangepi/libmavsdk-dev_1.4.18_debian11_arm64.deb

    sudo apt install ros-humble-mavros

安装PLC：

   sudo apt-get install ros-humble-pcl-ros

安装navigation2：

    sudo apt install ros-humble-navigation2

   sudo apt install ros-humble-nav2-bringup

安装-realsense2：

    sudo apt install ros-humble-librealsense2*

    udo apt install ros-humble-realsense2-*

    sudo apt install ros-humble-realsense2-*

安装ros-bridge

sudo apt-get install ros-humble-rosbridge-suite

安装rtabmap_ros：

sudo apt install ros-humble-rtabmap*