arm64v8 ROS2+autoware部署

arm64v8架构ros2+autoware部署

在X86架构下构建arm64的docker

首先设置docker --platform参数使其支持多架构拉取和运行

vim /etc/docker/daemon.json

在其中设置experimental项为true

运行docker version查看里面是否为experimental:true

拉取并运行quemu来在x86架构下模拟arm架构

docker pull multiarch/qemu-user-static
docker run --rm --privileged multiarch/qemu-user-static --reset -p yes

输出下列信息为正常运行
拉取arm64v8镜像，ros2只支持linux的ubuntu发行版

docker pull  --platform linux/arm64   art-internal.hobot.cc/library/arm64v8/ubuntu:22.04

容器内环境配置

docker run -itd  --platform linux/arm64  --name ros_zdh -p 8827:8888 --privileged art-internal.hobot.cc/library/arm64v8/ubuntu:20.04
docker exec   -it ros_zdh  /bin/bash

进入docker后，由于容器是最小安装，先安装基础软件。先更新软件源，由于没有换源，会更新较慢。最小安装没有sudo

apt-get update
apt-get upgrade
apt install gnupg
apt install ca-certificates

换源（清华源）：由于没有预装vim使用echo进行换源,arm架构下的源可能和x86不一样，在使用x86源的时候一直换源失败。

cd /etc/apt
mv sources.list  sources_bk.list
echo " 
# 默认注释了源码仓库，如有需要可自行取消注释
deb https://mirrors.ustc.edu.cn/ubuntu-ports/ focal main restricted universe multiverse
# deb-src https://mirrors.ustc.edu.cn/ubuntu-ports/ focal main main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu-ports/ focal-updates main restricted universe multiverse
# deb-src https://mirrors.ustc.edu.cn/ubuntu-ports/ focal-updates main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu-ports/ focal-backports main restricted universe multiverse
# deb-src https://mirrors.ustc.edu.cn/ubuntu-ports/ focal-backports main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu-ports/ focal-security main restricted universe multiverse
# deb-src https://mirrors.ustc.edu.cn/ubuntu-ports/ focal-security main restricted universe multiverse

# 预发布软件源，不建议启用
# deb https://mirrors.ustc.edu.cn/ubuntu-ports/ focal-proposed main restricted universe multiverse
# deb-src https://mirrors.ustc.edu.cn/ubuntu-ports/ focal-proposed main restricted universe multiverse

" > sources.list
apt-get update
apt-get upgrade

安装必备依赖

apt install vim
apt install openssh-server
apt install build-essential
apt install locales
locale-gen en_US en_US.UTF-8
update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8
apt install software-properties-common
add-apt-repository universe
apt install curl gnupg lsb-release

安装ros2

这里使用鱼香ROS一键安装ros2_galactic和rosdep

wget http://fishros.com/install -O fishros && . fishros