Pyrestone/setup_noetic.md

## setup_noetic.md

      
    Raw
  

              setup_noetic.md
            
          
    ROS Noetic Install on jetson nano (Ubuntu 18.04)

This guide is derived from the official Noetic setup page, which can be found here:
http://wiki.ros.org/noetic/Installation/Source
This version includes some customizations for missing packages on Ubuntu 18.04 which the jetson nano OS uses.
I think this installation should work on most ubuntu 18.04 installations, but I can give no guarantees.
System and python dependencies

sudo apt install build-essential
sudo -H python3 -m pip install -U pip
sudo -H python3 -m pip install -U setuptools
sudo -H python3 -m pip install -U rosdep rosinstall_generator vcstool


sudo rosdep init
rosdep update

mkdir ~/ros_catkin_ws
cd ~/ros_catkin_ws

Generate rosinstall file

Note: the default says desktop here, but i don't want all the GUI stuff, so i use the robot and perception packages instead
rosinstall_generator robot perception --rosdistro noetic --deps --tar > noetic-robot-perception.rosinstall
mkdir ./src
vcs import --input noetic-robot-perception.rosinstall ./src

Install ros packages

rosdep install --from-paths ./src --ignore-packages-from-source --rosdistro noetic -y -r

# not sure if this is necessary:
sudo -H python3 -m pip install -U catkin_pkg

# again not sure if necessary:  
sudo apt install liborocos-kdl-dev

for compilation error about cv_bridge not finding boost:
nano ./src/vision_opencv/cv_bridge/CmakeLists.txt

# change: 
find_package(Boost REQUIRED python37)
# to:
find_package(Boost REQUIRED python3)

Build ros packages

sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release -DPYTHON_EXECUTABLE=/usr/bin/python3 --install-space /opt/ros/noetic

(optional) add setup.bash to bashrc so it's automatically loaded on the start of a terminal session
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc