这是个如何在树莓派上搭建ROS框架的文章，系统包括debian、ubuntu，其中debian使用源码编译，因为官方对debian系统支持的比较好，因此整个项目使用的是debian系统
- 在树莓派3B+ debian系统上编译安装ROS Kinetic版本
- ubuntu版本安装（简单）
在树莓派3B+ debian系统上编译安装ROS Kinetic版本
Installing ROS Kinetic on the Raspberry Pi
1.设置仓库
- sudo apt-get install dirmngr
- sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
- sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
- sudo apt-get update
- sudo apt-get upgrade
2.安装部分依赖包
- sudo apt-get install -y python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential cmake
- sudo rosdep init
- rosdep update
3.建立代码空间安转ROS核心
- mkdir ~/catkin_ws
- cd ~/catkin_ws
- rosinstall_generator ros_comm --rosdistro kinetic --deps --wet-only --tar > kinetic-ros_comm-wet.rosinstall
- wstool init src kinetic-ros_comm-wet.rosinstall
4.解决ROS包依赖
- mkdir ~/catkin_ws/external_src
- cd ~/catkin_ws/external_src
- wget http://sourceforge.net/projects/assimp/files/assimp-3.1/assimp-3.1.1_no_test_models.zip/download -O assimp-3.1.1_no_test_models.zip
- unzip assimp-3.1.1_no_test_models.zip
- cd assimp-3.1.1
- cmake .
- make
- sudo make install
5.解决rosdep依赖
- cd catkin_ws
- rosdep install -y --from-paths src --ignore-src --rosdistro kinetic -r --os=debian:stretch
6.编译工作空间（容易出错，修改编译使用核心）
- sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/kinetic -j2
- source /opt/ros/kinetic/setup.bash
- echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
7.添加其他额外包（容易出错）
- cd catkin_ws
比如安装rosserial串口依赖包
- rosinstall_generator rosserial --rosdistro kinetic --deps --wet-only --tar > kinetic-custom_ros.rosinstall
- wstool merge -t src kinetic-custom_ros.rosinstall
- wstool update -t src
- rosdep install --from-paths src --ignore-src --rosdistro kinetic -y -r --os=debian:jessie
- sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/kinetic
ubuntu版本安装（简单）
1.设置sources
- sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
- sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
- sudo apt-get update
2.安转核心或者桌面版
核心版
- sudo apt-get install ros-kinetic-ros-base
桌面版
- sudo apt-get install ros-kinetic-desktop-full
3.初始化设置环境
- sudo rosdep init
- rosdep init
- echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
- source ~/.bashrc
4.安转额外包
- sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential