ROS ZYNQ移植

1  準備工做

全部是依照官方操做的： http://wiki.ros.org/groovy/Installation/Source  

  apt-get install python-rosdep python-rosinstall-generator python-wstool build-essential

出現錯誤，找不到源 ，那個就要進入提示的頁面： If you have trouble installing the packages in the command above, make sure you have added the packages.ros.org debian repository to your apt source lists as described starting here: 

groovy/Installation/Ubuntu#groovy.2BAC8-Installation.2BAC8-Sources.Setup_your_sources.list

依照裏面步驟更新源，目的是能夠安裝ROS的工具。安裝下面依賴庫

• sudo apt-get install build-essential python-yaml cmake subversion wget python-setuptools mercurial git-core python-rosdep python-rospkg python-rosinstall

• sudo apt-get install python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config

• sudo apt-get install python-wxgtk2.8 python-gtk2 python-matplotlib libwxgtk2.8-dev python-imaging libqt4-dev graphviz qt4-qmake python-numpy ros-fuerte-swig-wx

wget http://peak.telecommunity.com/dist/ez_setup.py 

python ez_setup.py

         利用easy_install安裝pip：（http://www.ros.org/wiki/ROS/Installation/EasyInstallConfig）

sudo easy_install pip

           而後安裝下面的包：（http://www.ros.org/wiki/fuerte/Installation/Ubuntu/Source）

sudo pip install -U rosdep

sudo pip install -U rosinstall

sudo pip install -U rospkg

           安裝python-wstool：

pip install -U wstool

             redep初始化：

sudo rosdep init
rosdep update

2 下載源代碼

mkdir ~/ros_catkin_ws
cd ~/ros_catkin_ws

3 我暈 搞錯了

  以上的步驟純粹是從源代碼安裝。每必要啊  。可以從官方提供的方法 http://wiki.ros.org/groovy/Installation/UbuntuARM   ，直接獲取編譯後的文件就可以用了。何須本身去編譯呢，勞民傷財。

原本LINUX基礎就不是很是好，還這麼腦殘的去本身編譯。傻叉啊！

Configure your Ubuntu repositories

配置你的UBUNTU

http://wiki.ros.org/groovy/Installation/UbuntuARM

Setup your sources.list

• Ubuntu 11.10 (Oneiric armel)

  • sudo sh -c 'echo "deb http://packages.ros.org/ahendrix-mirror/ubuntu oneiric main" > /etc/apt/sources.list.d/ros-latest.list'

  Ubuntu 12.04 (Precise armel)

  • sudo sh -c 'echo "deb http://packages.ros.org/ahendrix-mirror/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'

  Ubuntu 12.04 (Precise armhf)

  • sudo sh -c 'echo "deb http://packages.namniart.com/repos/ros precise main" > /etc/apt/sources.list.d/ros-latest.list'

  Ubuntu 12.10 (Quantal armhf)

  • sudo sh -c 'echo "deb http://packages.namniart.com/repos/ros quantal main" > /etc/apt/sources.list.d/ros-latest.list'

    
    

Set up your keys

	wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
	wget http://packages.namniart.com/repos/namniart.key -O - | sudo apt-key add -

Installation

First, make sure your Debian package index is up-to-date:

•  sudo apt-get update

There are many different libraries and tools in ROS. Most of the default configurations do not yet compile fully on ARM. You can also install ROS packages individually.

• ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools.

  •  sudo apt-get install ros-groovy-ros-base

  Individual Package: You can install a specific ROS package (replace underscores with dashes of the package name):

  • sudo apt-get install ros-groovy-PACKAGE

    e.g.

    sudo apt-get install ros-groovy-ros

To find available packages, use:

apt-cache search ros-groovy

  這裏我選擇在zynq上安裝的是 ROS-Base包，不含GUI

Initialize rosdep

sudo apt-get install python-rosdep
sudo rosdep init
rosdep update

Environment setup

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

source /opt/ros/groovy/setup.bash

Getting rosinstall

sudo apt-get install python-rosinstall

開始官方的0基礎教程

http://wiki.ros.org/ROS/Tutorials

參考：

http://wiki.ros.org/groovy/Installation/UbuntuARM                            --  很好  

http://blog.csdn.net/hcx25909/article/details/8539587

http://www.eefocus.com/hcx196/blog/

http://www.eefocus.com/hcx196/blog/13-01/291235_cea1f.html