Xuri 3sdb, installing the original ROS

0、 Prepare information

Hardware ：SDB Development board solution related attachments （ card 、 power cord 、sd card ）
Hardware ： Show related （ screen 、 Screen connecting cable and screen power supply ）
Hardware ： mouse 、 keyboard 、 Ethernet cable 、 The computer 、 Card reader （ If the computer can read directly sd Cards don't need ）
The software can refer to the following 1 Link to the web disk information in the chapter .（ link ：https://pan.baidu.com/share/init?surl=e8UISrjka2rqns21uv7tQg Extraction code ：mfz5）
Software ：emmc Mirror image ： The rising sun of the product center and the resource center of horizon X3 SDB Information X3SDB Ubuntu There are... In the system image emmc Mirror image
Software ：ubuntu System image ： The rising sun of the product center and the resource center of horizon X3 Dispatch data ： Rising sun X3 Send system image （ The desktop version ）
Software ： Upgrade tools hbupdateV1.3
Software ：mobaxterm Serial tools
Software ：balenaEtcher Image burning tool
Software ：ros Medium rosdep package ： link ：https://pan.baidu.com/s/1ff0bsxZqABpbyWv1JAZ76w Extraction code ：yyds

1、 burning emmc Mirror image and ubuntu Mirror image

Reference link ：https://developer.horizon.ai/forumDetail/89018995415500818

1.1 burning emmc Mirror image

Board just arrived , The reference article says that some cases do not need to be brushed , No matter the , It should be OK to brush it again .
According to the link above 4 The following operations are carried out in chapter
Power the development board ,
Use the serial port to link the development board and the computer .
open hbupdateV1.3 Upgrade tools ,
Refer to the installation documentation or the following figure for configuration burning .
（ Here I use the network cable to connect and develop the board and computer , Modified the computer ip In the same network segment as the development board , Like the reference article . But I feel useless , Because the image is burned through the serial port , If something goes wrong , You have to install the reference documentation step by step ）

1.2 burning ubuntu System image

Still refer to the above article for the following operations . Or reference x3 Pie's Manual 1.2 chapter
Unplug the memory card of the development board , The spring-loaded clamping groove is adopted , Click to take it out . Raspberry pie 4B But there is no such design .
take sd Put the card into the card reader and insert it into the computer （ Enable the computer to sd Card to read and write ）.
Yes sd Format the card .
open balenaEtcher Tools , take ubuntu Mirror burning sd In the card
After the burning is completed, the sd Insert the card into the board .
Connect the display .
Then use the reference documentation tool mobaxterm View the board startup process （ Reference resources x3 Dispatch manual 2.1 chapter ）
Power on the board , The display will appear ubuntu The desktop of the .（ Wait a minute after power on , After the serial port is turned on, it will also print things . It may take a little longer for the first time ）

2、 install ROS

2.1 Board to access the Internet

Reference resources x3 Pie 3.2 Chapter wireless network configuration , Use mobile hotspot to surf the Internet , Using others wifi It's fine too .

nmcli device wifi rescan 
nmcli device wifi list 
nmcli device wifi connect  account number  password  password 
# nmcli device wifi connect AIOT password 12345678  Please change to your own WI-FI Hotspot account password 

Then you can surf the Internet , You can use the following statement to test

ping www.baidu.com

2.2 install ros-xxx-desktop-full

2.2.1 Reference documents

1. ROS- virtual machine Ubuntu Install in ros System :https://blog.csdn.net/weixin_41332204/article/details/120978312
2. The installation meaning of the ancient Moon House ：https://www.guyuehome.com/34072

2.2.2 Modify the source of the system

By viewing the source files of the system , It uses the source of Tsinghua University in China , So don't change it .

2.2.3 add to ros Source and secret key of

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

2.2.4 install ros System

It has to be networked , First update the source , Update system . Execute the following command . You need to agree whether to continue during the update , Input y Press enter

sudo apt update && sudo apt-get upgrade

install ros-noetic-desktop-full

sudo apt install ros-noetic-desktop-full

2.2.5ros Configuration of

perform rosdep init and update Instructions , But these two statements need to be linked github, Its website is abroad ,linux The connection always fails on . You need to use other methods to skip these two .
rosdep init Instructions need to be installed python-rosdep. But looking up the data, we found that there was no python-rosdep Source , Can't use apt To install . Refer to the official website ：http://wiki.ros.org/rosdep
Use pip Command installation

sudo pip install -U rosdep

among rosdep init and update The essence of reference file
The above is modified rosdep References to , These files are all on the Internet , The above is mainly about downloading the required documents , After modifying the document, link to the local document .
The above method is a little different , Their path is at /usr/lib/python2.7/dist-packages/rosdep2/, This article is in arm Installed on , The use of pip Instructions , So the path should be Usr/local/lib/python2.7/dist-packages/rosdep2/. Make corresponding modifications according to the above documents . Never be serious , Make no mistake .
Quote a paragraph ：

 link ：https://pan.baidu.com/s/1ff0bsxZqABpbyWv1JAZ76w
 Extraction code ：yyds
rosdep init：
 Essentially from ssr A document containing several links is downloaded in , And save it in a specific path . Because of the great wall or something , It's easy to fail to download .

 resolvent 
 Of the resources I provide  _20-default.list_  file copy To  _/etc/ros/rosdep/sources.list.d/_ Under the path , If there is no path , You need to create level by level .

 Novice teaching , Master jump 
 Right click in the decompressed package to open the terminal , command 

sudo cp ./20-default.list /etc/ros/rosdep/sources.list.d
rosdep update
 This step is essentially from 20-default.list There are several links in the file to download the file , And related configuration . Also because of the Great Wall , Easy download failure .

 resolvent 
 Of the resources I provide  _rosdistro-master/_ Folder  copy To _/etc/ros/rosdep/sources.list.d/_ Under the path 

（sudo cp -r ./rosdistro-master/ /etc/ros/rosdep/sources.list.d)
 Then modify the following three files respectively 
 First file 

sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py
 Change the resource path to the offline path 
DEFAULT_SOURCES_LIST_URL = 'file:/etc/ros/rosdep/sources.list.d/20-default.list'
 The second file is the same 

sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/rep3.py

REP3_TARGETS_URL = 'file:/etc/ros/rosdep/sources.list.d/rosdistro-master/releases/targets.yaml'
 The third document remains the same 

sudo gedit /usr/lib/python2.7/dist-packages/rosdistro/__init__.py

DEFAULT_INDEX_URL = 'file:/etc/ros/rosdep/sources.list.d/rosdistro-master/index-v4.yaml'
 Finally, at the beginning of the terminal 

rosdep update

2.2.6ROS Environment configuration of

take ros Add the environment path of to the global environment , Among them noetic by ros Version number of ,

echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc && source ~/.bashrc

ROS Environment configuration of , Make you open a new terminal every time ,ROS All environment variables can be automatically configured , That is, add to bash In the session , Because the command source /opt/ros/kinetic/setup.bash It only works on the current terminal , That is, it has single timeliness , You don't need to reconfigure the environment every time you open a new terminal , Just use echo Statement to add a command to bash In the session .

2.2.7ros Other dependence on

In Africa arm The following statement can be executed on

sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential 

But the python-rosinstall python-rosinstall-generator python-wstool Can't use apt Installed
The same use pip Installation

sudo pip install rosinstall 
sudo pip install rosinstall-generator
sudo pip install wstool 

If the pop-up has been installed, don't worry .
final build-essential Use the following statement to install

sudo apt install build-essential 

2.2.7ros Basic example little turtle

Open the terminal and execute the following statements

roscore

rosrun turtlesim turtlesim_node

rosrun turtlesim turtle_teleop_key

Click the mouse turtle_teleop_key Key points of , Then you can use up, down, left and right to control the little turtle .