6.1.2 ROS2 安装使用
如果使用的是 Bianbu ROS 可以跳过该步骤
平台要求
硬件:SpacemiT RISCV
操作系统:bianbu-desktop、bianbu-star
设置软件源
终端执行下面命令启用进迭时空 ROS2 软件源:
grep -q '^Suites:.*\bnoble-ros\b' /etc/apt/sources.list.d/bianbu.sources || sudo sed -i '0,/^Suites:/s//& noble-ros/' /etc/apt/sources.list.d/bianbu.sources
设置源优先级
if ! dpkg -s bianbu-desktop-lite >/dev/null 2>&1; then
echo "bianbu-desktop-lite not installed, proceeding..."
if [ ! -f /etc/apt/preferences.d/noble-ros.pref ]; then
sudo tee /etc/apt/preferences.d/noble-ros.pref > /dev/null <<EOF
Package: src:opencv
Pin: release o=Spacemit, n=noble-ros
Pin-Priority: 50
Package: src:qtbase-opensource-src
Pin: release o=Spacemit, n=noble-ros
Pin-Priority: 50
Package: src:qtbase-opensource-src-gles
Pin: release o=Spacemit, n=noble-ros
Pin-Priority: 50
Package: src:pyqt5
Pin: release o=Spacemit, n=noble-ros
Pin-Priority: 50
EOF
else
echo "/etc/apt/preferences.d/noble-ros.pref already exists, skipping..."
fi
else
echo "bianbu-desktop-lite is already installed, skipping preference setup."
fi
sudo apt update
安装工具
安 装开发工具(推荐)
如需编译 ROS2 功能包或进行二次开发,建议安装开发工具集:
sudo apt update && sudo apt install ros-dev-tools