自动驾驶 安装ROS系统

1 - 换源

sudo gedit /etc/apt/sources.list

＃PC的国内软件源
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse
deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse
deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse

#TX2的国内软件源
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial-updates main restricted universe multiverse  
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial-updates main restricted universe multiverse   
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial-security main restricted universe multiverse   
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial-security main restricted universe multiverse   
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial-backports main restricted universe multiverse   
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial-backports main restricted universe multiverse   
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial main universe restricted   
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial main universe restricted

2 - 打开软件和更新对话框，具体可以在 Ubuntu 最左上角的搜索按钮中搜索。

打开后按照下图进行配置（确保你的"restricted"， "universe，" 和 "multiverse."前是打上勾的）

＃加入软件源
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
＃加入秘钥
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
＃更新软件源
sudo apt-get update
＃开始安装
sudo apt-get install ros-kinetic-desktop-full
＃初始化
sudo rosdep init
＃更新
rosdep update
＃加入bashrc
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
＃更新bashrc
source ~/.bashrc
#安装依赖包
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential
＃安装栅格地图插件
sudo apt-get install ros-kinetic-grid-map
＃安装编译工具
sudo apt-get install python-catkin-tools

２．OPENCV

解压源码后，在解压后的目录中创建build文件夹并进去：

mkdir build
cd build

sudo apt-get install build-essential

sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev

sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev

cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local ..

sudo make

sudo make install

sudo sh -c 'echo "/usr/local/lib" > /etc/ld.so.conf.d/opencv.conf'

sudo ldconfig

３．安装ＱＴ

sudo chmod a+x qt-opensource-linux-x64-5.10.0.run

./qt-opensource-linux-x64-5.10.0.run

４．安装dlib

tar xvf dlib-19.6.tar.bz2

cd dlib-19.6/

mkdir build

cd build

cmake -DBUILD_SHARED_LIBS=ON ..

cmake --build . --config Release

sudo make install

sudo ldconfig

５．安装boost

sudo ./bootstrap.sh
sudo ./b2 install
#卸载
cd /usr/local/inlcude
sudo rm -r boost/
cd /usr/local/lib
sudo rm *boost*

如果在tx2上缺什么包：

https://launchpad.net/ubuntu/xenial/arm64/

这里都有～