Jetson-AGX-Orin 安装ROS2

Jetson-AGX-Orin 安装ROS2

确保Orin能够上网

1、安装依赖

sudo apt update
sudo apt install curl gnupg2 lsb-release

2、添加源

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

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

3、安装ros2

sudo apt update
sudo apt install ros-foxy-desktop

4、配置环境变量

source /opt/ros/foxy/setup.bash
echo " source /opt/ros/foxy/setup.bash" >> ~/.bashrc

5、测试

开启两个终端分别输入以下命令，进行小乌龟测试

ros2 run turtlesim turtlesim_node
ros2 run turtlesim turtle_teleop_key