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Merge pull request #2 from JetsonHacksNano/dev
Update GPG Key
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‎README.md‎

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# installROS
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Install Robot Operating System (ROS) on NVIDIA Jetson Nano Developer Kit
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Install Robot Operating System (ROS) Melodic on NVIDIA Jetson Developer Kits
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These scripts will install Robot Operating System (ROS) on the NVIDIA Jetson Nano Developer Kit.
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These scripts will install Robot Operating System (ROS) Melodic on the NVIDIA Jetson Developer Kits.
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Jetson Nano, Jetson AGX Xavier, Jetson Xavier NX, Jetson TX2, Jetson TX1
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The script is based on the Ubuntu ARM install of ROS Melodic: http://wiki.ros.org/melodic/Installation/Ubuntu
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Example Usage:
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$ ./installROS.sh -p ros-melodic-desktop -p ros-melodic-rgbd-launch
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`$ ./installROS.sh -p ros-melodic-desktop -p ros-melodic-rgbd-launch`
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This script installs a baseline ROS environment. There are several tasks:
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<ul>
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<li>Enable repositories universe, multiverse, and restricted</li>
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<li>Adds the ROS sources list</li>
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<li>Sets the needed keys</li>
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<li>Loads specified ROS packages, defaults to ros-melodic-base-ros if none specified</li>
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<li>Initializes rosdep</li>
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</ul>
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* Enable repositories universe, multiverse, and restricted
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* Adds the ROS sources list
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* Sets the needed keys
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* Loads specified ROS packages, defaults to ros-melodic-base-ros if none specified
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* Initializes rosdep
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* Sets up `ROS_MASTER_URI` and `ROS_IP` in the `~/.bashrc` file
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_**Note:** You will need to check your `~/.bashrc` file to make sure the ROS_MASTER_URI and ROS_IP are setup correctly for your environment. During configuration, a best guess is made which should be considered a placeholder._
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You can edit this file to add the ROS packages for your application.
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<strong>setupCatkinWorkspace.sh</strong>
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**setupCatkinWorkspace.sh**
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Usage:
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$ ./setupCatkinWorkspace.sh [optionalWorkspaceName]
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`$ ./setupCatkinWorkspace.sh [_optionalWorkspaceName_]`
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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.
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<em><b>Note:</b> 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:</em>
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<pre>
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$ sudo apt-key del 421C365BD9FF1F717815A3895523BAEEB01FA116
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</pre>
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where _optionalWorkspaceName_ is the name and path of the workspace to be used. The default workspace name is `~/catkin_ws`.
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## Release Notes
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### September, 2021
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* v1.1
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* Tested on L4T 32.6.1 (JetPack 4.6)
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* Update ROS GPG Key
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* Setup ROS_IP more intelligently
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* Setup ROS_MASTER_URI and ROS_IP in installROS script instead of setupCatkinWorkspace
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* Script wrangling and cleanup
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* Should be the same as JetsonHacks/installROS
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<strong>October 2019</strong>
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* vL4T32.2.1
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* L4T 32.2.1 (JetPack 4.2.2)
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## License
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MIT License
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Copyright (c) 2017-2019 JetsonHacks
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Copyright (c) 2017-2021 JetsonHacks
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal

‎installROS.sh‎

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#!/bin/bash
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# Install Robot Operating System (ROS) on NVIDIA Jetson Nano Developer Kit
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# Install ROS on NVIDIA Jetson Developer Kits
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# Copyright (c) JetsonHacks, 2019-2021
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# MIT License
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# Maintainer of ARM builds for ROS is http://answers.ros.org/users/1034/ahendrix/
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# Information from:
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# http://wiki.ros.org/melodic/Installation/UbuntuARM
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# Get code name of distribution
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# lsb_release gets the Ubuntu Description Release and Code name
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DISTRIBUTION_CODE_NAME=$( lsb_release -sc )
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case $DISTRIBUTION_CODE_NAME in
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"xenial" )
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echo "This Ubuntu distribution is Ubuntu Xenial (16.04)"
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echo "This install is not the ROS recommended version for Ubuntu Xenial."
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echo "ROS Bionic is the recommended version."
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echo "This script installs ROS Melodic. You will need to modify it for your purposes."
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exit 0
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;;
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"bionic")
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echo "This Ubuntu distribution is Ubuntu Bionic (18.04)"
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echo "Installing ROS Melodic"
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;;
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*)
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echo "This distribution is $DISTRIBUTION_CODE_NAME"
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echo "This script will only work with Ubuntu Xenial (16.04) or Bionic (18.04)"
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exit 0
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esac
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# Install Robot Operating System (ROS) on NVIDIA Jetson Developer Kit
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# Maintainer of ARM builds for ROS is http://answers.ros.org/users/1034/ahendrix/
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# Information from:
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# http://wiki.ros.org/melodic/Installation/UbuntuARM
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# Green is 2
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# Reset is sgr0
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function usage
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usage ()
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{
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echo "Usage: ./installROS.sh [[-p package] | [-h]]"
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echo "Install ROS Melodic"
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echo "-h | --help This message"
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}
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function shouldInstallPackages
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shouldInstallPackages ()
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{
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tput setaf 1
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echo "Your package list did not include a recommended base package"
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sudo apt-add-repository universe
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sudo apt-add-repository multiverse
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sudo apt-add-repository restricted
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tput setaf 2
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echo "Updating apt list"
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tput sgr0
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sudo apt update
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# Setup sources.lst
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sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
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# Setup keys
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sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
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# 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.
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# Installation
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sudo apt install curl
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curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
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tput setaf 2
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echo "Updating apt-get"
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echo "Updating apt list"
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tput sgr0
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sudo apt-get update
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sudo apt update
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tput setaf 2
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echo "Installing ROS"
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tput sgr0
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echo "Installing rosdep"
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tput sgr0
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sudo apt-get install python-rosdep -y
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# Certificates are messed up on earlier version Jetson for some reason
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# Do not know if it is an issue with the Nano, test by commenting out
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# sudo c_rehash /etc/ssl/certs
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# Initialize rosdep
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tput setaf 2
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echo "Initializaing rosdep"
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tput sgr0
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sudo rosdep init
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# To find available packages, use:
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rosdep update
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# Environment Setup - Don't add /opt/ros/melodic/setup.bash if it's already in bashrc
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# Environment Setup - source melodic setup.bash
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# Don't add /opt/ros/melodic/setup.bash if it's already in bashrc
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grep -q -F 'source /opt/ros/melodic/setup.bash' ~/.bashrc || echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
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source ~/.bashrc
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# Install rosinstall
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tput setaf 2
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echo "Installing rosinstall tools"
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tput sgr0
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sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential -y
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# Install useful ROS dev tools
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sudo apt-get install -y python-rosinstall \
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python-rosinstall-generator \
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python-wstool \
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build-essential
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# Use ip to get the current IP addresses of eth0 and wlan0; parse into form xx.xx.xx.xx
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ETH0_IPADDRESS=$(ip -4 -o addr show eth0 | awk '{print $4}' | cut -d "/" -f 1)
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WLAN_IPADDRESS=$(ip -4 -o addr show wlan0 | awk '{print $4}' | cut -d "/" -f 1)
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if [ -z "$ETH0_IPADDRESS" ] ; then
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echo "Ethernet (eth0) is not available"
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else
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echo "Ethernet (eth0) is $ETH0_IPADDRESS"
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fi
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if [ -z "$WLAN_IPADDRESS" ] ; then
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echo "Wireless (wlan0) is not available"
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else
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echo "Wireless (wlan0) ip address is $WLAN_IPADDRESS"
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fi
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# Default to eth0 if available; wlan0 next
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ROS_IP_ADDRESS=""
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if [ ! -z "$ETH0_IPADDRESS" ] ; then
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ROS_IP_ADDRESS=$ETH0_IPADDRESS
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else
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ROS_IP_ADDRESS=$WLAN_IPADDRESS
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fi
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if [ ! -z "$ROS_IP_ADDRESS" ] ; then
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echo "Setting ROS_IP in ${HOME}/.bashrc to: $ROS_IP_ADDRESS"
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else
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echo "Setting ROS_IP to empty. Please change ROS_IP in the ${HOME}/.bashrc file"
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fi
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#setup ROS environment variables
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grep -q -F ' ROS_MASTER_URI' ~/.bashrc || echo 'export ROS_MASTER_URI=http://localhost:11311' | tee -a ~/.bashrc
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grep -q -F ' ROS_IP' ~/.bashrc || echo "export ROS_IP=${ROS_IP_ADDRESS}" | tee -a ~/.bashrc
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tput setaf 2
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echo "Installation complete!"
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echo "Please setup your Catkin Workspace and ~/.bashrc file"
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tput sgr0
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‎setupCatkinWorkspace.sh‎

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#!/bin/bash
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# Create a Catkin Workspace and setup ROS environment variables
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# Usage setupCatkinWorkspace.sh dirName
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# Create a Catkin Workspace
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# Copyright (c) JetsonHacks, 2019-2021
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# MIT License
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# Maintainer of ARM builds for ROS is http://answers.ros.org/users/1034/ahendrix/
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# Information from:
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# http://wiki.ros.org/melodic/Installation/UbuntuARM
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#
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source /opt/ros/melodic/setup.bash
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DEFAULTDIR=~/catkin_ws
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CLDIR="$1"
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if [ ! -z "$CLDIR" ]; then
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DEFAULTDIR=~/"$CLDIR"
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fi
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if [ -e "$DEFAULTDIR" ] ; then
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echo "$DEFAULTDIR already exists; no action taken"
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# Usage setupCatkinWorkspace.sh dirName
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help_usage ()
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{
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echo "Usage: ./setupCatkinWorkspac.sh <path>"
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echo " Setup a Catkin Workspace at the path indicated"
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echo " Default path is ~/catkin_ws"
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echo " -h | --help This message"
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exit 0
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}
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CATKIN_DIR=""
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case $1 in
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-h | --help) help_usage ;;
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*) CATKIN_DIR="$1" ;;
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esac
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CATKIN_DIR=${CATKIN_DIR:="${HOME}/catkin_ws"}
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if [ -e "$CATKIN_DIR" ] ; then
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echo "$CATKIN_DIR already exists; no action taken"
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exit 1
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else
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echo "Creating Catkin Workspace: $DEFAULTDIR"
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echo "Creating Catkin Workspace: $CATKIN_DIR"
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fi
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echo "$DEFAULTDIR"/src
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mkdir -p "$DEFAULTDIR"/src
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cd "$DEFAULTDIR"/src
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echo "$CATKIN_DIR"/src
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mkdir -p "$CATKIN_DIR"/src
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cd "$CATKIN_DIR"/src
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catkin_init_workspace
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cd "$DEFAULTDIR"
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cd ..
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catkin_make
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#setup ROS environment variables
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grep -q -F ' ROS_MASTER_URI' ~/.bashrc || echo 'export ROS_MASTER_URI=http://localhost:11311' | tee -a ~/.bashrc
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grep -q -F ' ROS_IP' ~/.bashrc || echo "export ROS_IP=$(hostname -I)" | tee -a ~/.bashrc
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echo "export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH" >> ~/.bashrc
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echo "The Catkin Workspace has been created"
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echo "Please modify the placeholders for ROS_MASTER_URI and ROS_IP placed into the file ${HOME}/.bashrc"
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echo "to suit your environment."
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echo "Catkin workspace: $CATKIN_DIR created"

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