├── LICENSE ├── README.md ├── installROS.sh └── setupCatkinWorkspace.sh /LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2018 Jetsonhacks 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # installROSXavier 2 | Install Robot Operating System (ROS) on NVIDIA Jetson AGX Xavier 3 | 4 | These scripts will install Robot Operating System (ROS) on the NVIDIA Jetson AGX Xavier Developer Kit. 5 | 6 | For L4T 31.0.2 (JetPack 4.1) 7 | 8 | 9 | The script is based on the Ubuntu ARM install of ROS Melodic: http://wiki.ros.org/melodic/Installation/Ubuntu 10 | 11 | Maintainer of ARM builds for ROS is http://answers.ros.org/users/1034/ahendrix/ 12 | 13 | There are two scripts: 14 | 15 | installROS.sh 16 | 
17 | Usage: ./installROS.sh  [[-p package] | [-h]]
18 |  -p | --package <packagename>  ROS package to install
19 |                                Multiple Usage allowed
20 |                                The first package should be a base package. One of the following:
21 |                                  ros-melodic-ros-base
22 |                                  ros-melodic-desktop
23 |                                  ros-melodic-desktop-full
24 |
25 | 26 | Default is ros-melodic-ros-base if no packages are specified. 27 | 28 | Example Usage: 29 | 30 | $ ./installROS.sh -p ros-melodic-desktop -p ros-melodic-rgbd-launch 31 | 32 | This script installs a baseline ROS environment. There are several tasks: 33 | 34 | 41 | 42 | You can edit this file to add the ROS packages for your application. 43 | 44 | setupCatkinWorkspace.sh 45 | Usage: 46 | 47 | $ ./setupCatkinWorkspace.sh [optionalWorkspaceName] 48 | 49 | where optionalWorkspaceName is the name of the workspace to be used. The default workspace name is catkin_ws. This script also sets up some ROS environment variables. Refer to the script for details. 50 | 51 | Note: On June 7, 2019 the GPG key for ROS was changed due to security issues. If you have ROS installed on your system before this, you should delete the GPG key: 52 | 53 | 
54 | $ sudo apt-key del 421C365BD9FF1F717815A3895523BAEEB01FA116
55 |
56 | 57 | 58 | ## Release Notes 59 | June 2019 60 | * L4T 31.0.2 61 | * Update ROS GPG Key 62 | 63 | October 2018 64 | * Initial Release 65 | * L4T 31.0.2 66 | 67 | 68 | ## License 69 | MIT License 70 | 71 | Copyright (c) 2017-2018 Jetsonhacks 72 | 73 | Permission is hereby granted, free of charge, to any person obtaining a copy 74 | of this software and associated documentation files (the "Software"), to deal 75 | in the Software without restriction, including without limitation the rights 76 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 77 | copies of the Software, and to permit persons to whom the Software is 78 | furnished to do so, subject to the following conditions: 79 | 80 | The above copyright notice and this permission notice shall be included in all 81 | copies or substantial portions of the Software. 82 | 83 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 84 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 85 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 86 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 87 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 88 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 89 | SOFTWARE. 90 | 91 | -------------------------------------------------------------------------------- /installROS.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | # Install Robot Operating System (ROS) on NVIDIA Jetson AGX Xavier 3 | # Maintainer of ARM builds for ROS is http://answers.ros.org/users/1034/ahendrix/ 4 | # Information from: 5 | # http://wiki.ros.org/melodic/Installation/UbuntuARM 6 | 7 | # Red is 1 8 | # Green is 2 9 | # Reset is sgr0 10 | 11 | function usage 12 | { 13 | echo "Usage: ./installROS.sh [[-p package] | [-h]]" 14 | echo "Install ROS Melodic" 15 | echo "Installs ros-melodic-ros-base as default base package; Use -p to override" 16 | echo "-p | --package ROS package to install" 17 | echo " Multiple usage allowed" 18 | echo " Must include one of the following:" 19 | echo " ros-melodic-ros-base" 20 | echo " ros-melodic-desktop" 21 | echo " ros-melodic-desktop-full" 22 | echo "-h | --help This message" 23 | } 24 | 25 | function shouldInstallPackages 26 | { 27 | tput setaf 1 28 | echo "Your package list did not include a recommended base package" 29 | tput sgr0 30 | echo "Please include one of the following:" 31 | echo " ros-melodic-ros-base" 32 | echo " ros-melodic-desktop" 33 | echo " ros-melodic-desktop-full" 34 | echo "" 35 | echo "ROS not installed" 36 | } 37 | 38 | # Iterate through command line inputs 39 | packages=() 40 | while [ "$1" != "" ]; do 41 | case $1 in 42 | -p | --package ) shift 43 | packages+=("$1") 44 | ;; 45 | -h | --help ) usage 46 | exit 47 | ;; 48 | * ) usage 49 | exit 1 50 | esac 51 | shift 52 | done 53 | # Check to see if other packages were specified 54 | # If not, set the default base package 55 | if [ ${#packages[@]} -eq 0 ] ; then 56 | packages+="ros-melodic-ros-base" 57 | fi 58 | echo "Packages to install: "${packages[@]} 59 | # Check to see if we have a ROS base kinda thingie 60 | hasBasePackage=false 61 | for package in "${packages[@]}"; do 62 | if [[ $package == "ros-melodic-ros-base" ]]; then 63 | hasBasePackage=true 64 | break 65 | elif [[ $package == "ros-melodic-desktop" ]]; then 66 | hasBasePackage=true 67 | break 68 | elif [[ $package == "ros-melodic-desktop-full" ]]; then 69 | hasBasePackage=true 70 | break 71 | fi 72 | done 73 | if [ $hasBasePackage == false ] ; then 74 | shouldInstallPackages 75 | exit 1 76 | fi 77 | 78 | # Let's start installing! 79 | 80 | tput setaf 2 81 | echo "Adding repository and source list" 82 | tput sgr0 83 | sudo apt-add-repository universe 84 | sudo apt-add-repository multiverse 85 | sudo apt-add-repository restricted 86 | 87 | # Setup sources.lst 88 | sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' 89 | # Setup keys 90 | sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 91 | # If you experience issues connecting to the keyserver, you can try substituting hkp://pgp.mit.edu:80 or hkp://keyserver.ubuntu.com:80 in the previous command. 92 | # Installation 93 | tput setaf 2 94 | echo "Updating apt-get" 95 | tput sgr0 96 | sudo apt-get update 97 | tput setaf 2 98 | echo "Installing ROS" 99 | tput sgr0 100 | # This is where you might start to modify the packages being installed, i.e. 101 | # sudo apt-get install ros-melodic-desktop 102 | 103 | # Here we loop through any packages passed on the command line 104 | # Install packages ... 105 | for package in "${packages[@]}"; do 106 | sudo apt-get install $package -y 107 | done 108 | 109 | # Add Individual Packages here 110 | # You can install a specific ROS package (replace underscores with dashes of the package name): 111 | # sudo apt-get install ros-melodic-PACKAGE 112 | # e.g. 113 | # sudo apt-get install ros-melodic-navigation 114 | # 115 | # To find available packages: 116 | # apt-cache search ros-melodic 117 | # 118 | # Initialize rosdep 119 | tput setaf 2 120 | echo "Installing rosdep" 121 | tput sgr0 122 | sudo apt-get install python-rosdep -y 123 | # Certificates are messed up on earlier version Jetson for some reason 124 | # Do not know if it is an issue with the Xavier, test by commenting out 125 | # sudo c_rehash /etc/ssl/certs 126 | # Initialize rosdep 127 | tput setaf 2 128 | echo "Initializaing rosdep" 129 | tput sgr0 130 | sudo rosdep init 131 | # To find available packages, use: 132 | rosdep update 133 | # Environment Setup - Don't add /opt/ros/melodic/setup.bash if it's already in bashrc 134 | grep -q -F 'source /opt/ros/melodic/setup.bash' ~/.bashrc || echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc 135 | source ~/.bashrc 136 | # Install rosinstall 137 | tput setaf 2 138 | echo "Installing rosinstall tools" 139 | tput sgr0 140 | sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential -y 141 | tput setaf 2 142 | echo "Installation complete!" 143 | tput sgr0 144 | 145 | -------------------------------------------------------------------------------- /setupCatkinWorkspace.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | # Create a Catkin Workspace and setup ROS environment variables 3 | # Usage setupCatkinWorkspace.sh dirName 4 | 5 | source /opt/ros/melodic/setup.bash 6 | DEFAULTDIR=~/catkin_ws 7 | CLDIR="$1" 8 | if [ ! -z "$CLDIR" ]; then 9 | DEFAULTDIR=~/"$CLDIR" 10 | fi 11 | if [ -e "$DEFAULTDIR" ] ; then 12 | echo "$DEFAULTDIR already exists; no action taken" 13 | exit 1 14 | else 15 | echo "Creating Catkin Workspace: $DEFAULTDIR" 16 | fi 17 | echo "$DEFAULTDIR"/src 18 | mkdir -p "$DEFAULTDIR"/src 19 | cd "$DEFAULTDIR"/src 20 | catkin_init_workspace 21 | cd "$DEFAULTDIR" 22 | catkin_make 23 | 24 | 25 | #setup ROS environment variables 26 | grep -q -F ' ROS_MASTER_URI' ~/.bashrc || echo 'export ROS_MASTER_URI=http://localhost:11311' | tee -a ~/.bashrc 27 | grep -q -F ' ROS_IP' ~/.bashrc || echo "export ROS_IP=$(hostname -I)" | tee -a ~/.bashrc 28 | echo "export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH" >> ~/.bashrc 29 | 30 | echo "The Catkin Workspace has been created" 31 | echo "Please modify the placeholders for ROS_MASTER_URI and ROS_IP placed into the file ${HOME}/.bashrc" 32 | echo "to suit your environment." 33 | 34 | --------------------------------------------------------------------------------