Jetson Xavier NX编译Rviz2

目录

容器

编译 

foxy

RViz2 

---

容器

修改docker镜像保存路径

$ systemctl show --property=FragmentPath docker
$ sudo mkdir /ssd/docker
$ sudo vi /lib/systemd/system/docker.service
	--graph=/ssd/docker
$ sudo systemctl daemon-reload
$ sudo service docker restart

安装portainer

$ docker pull portainer/portainer
$ docker run -d -p 9000:9000 --restart=always -v /var/run/docker.sock:/var/run/docker.sock --name portainer-test portainer/portainer

拉取 nvidiajetson/l4t-ros2-foxy-pytorch:r32.5镜像

$ docker pull nvidiajetson/l4t-ros2-foxy-pytorch:r32.5

利用portainer创建容器，web界面进入容器使能ssh服务，并允许root用户登录。

$ apt update
$ apt install ssh
$ vi /etc/ssh/sshd_config
    PermitRootLogin yes
$ passwd
$ service ssh start

编译 

foxy

 编译ROS2 foxy

$ cd /opt/ros/foxy
$ colcon build --symlink-install
Summary: 200 packages finished [28min 1s]
Summary: 200 packages finished [17min 2s]

运行demo

$ ros2 topic list
$ ros2 run demo_nodes_cpp talker

RViz2 

编译RViz2

$ cd /workspace/ros2_ws/src
$ git clone -b foxy https://github.com/ros2/rviz.git
Cloning into 'rviz'...
remote: Enumerating objects: 27003, done.
remote: Counting objects: 100% (828/828), done.
remote: Compressing objects: 100% (313/313), done.
remote: Total 27003 (delta 625), reused 574 (delta 468), pack-reused 26175
Receiving objects: 100% (27003/27003), 15.33 MiB | 898.00 KiB/s, done.
Resolving deltas: 100% (19620/19620), done.
$ cd /workspace/ros2_ws
$ source /opt/ros/foxy/install/setup.bash
$ colcon build --symlink-install
Starting >>> rviz_assimp_vendor
Starting >>> rviz_ogre_vendor
Starting >>> hand_pose_msgs
Starting >>> pose_msgs
Starting >>> ros2_trt_pose
Finished <<< ros2_trt_pose [5.22s]
--- stderr: pose_msgs
Error parsing '/workspace/ros2_ws/src/ros2_trt_pose/pose_msgs/package.xml':
Traceback (most recent call last):
  File "/usr/lib/python3/dist-packages/catkin_pkg/pac