Nvidia Jetson Nano開發板Ubuntu18.04+OpenCV3.2+Ros Melodic+Turtlebot搭建教程

最近在研究低成本機器人+AI能用的板子，找到了這款今年發佈的板子，官方定價僅售99美金，感覺性價比超高啊。

按照官方提供的燒錄教程和鏡像安裝默認的Ubuntu 18.04 Bionic版本，在搭建所需要的環境的時候遇到了一些坑，在這邊記錄一下，供各位伸手黨取閱。

首先安裝ROS，由於官方源在國外速度比較慢，所以第一次嘗試使用了國內的源，但是發現到後面會rosdep init的時候會有坑，出現如下報錯

ERROR: cannot download default sources list from:
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
Website may be down.

各種方法都無解之後，老老實實按照官方教程，從官方源下載，步驟如下

1.Configure your Ubuntu repositories

Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse." You can follow the Ubuntu guide for instructions on doing this.

2.Setup your sources.list

Setup your computer to accept software from packages.ros.org.

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

3.Set up your keys

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

4.Installation

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

sudo apt update

5.Initialize rosdep

Before you can use ROS, you will need to initialize rosdep. rosdep enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS.

sudo rosdep init
rosdep update

6.Environment setup

It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched:

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

7.Dependencies for building packages

Up to now you have installed what you need to run the core ROS packages. To create and manage your own ROS workspaces, there are various tools and requirements that are distributed separately. For example, rosinstall is a frequently used command-line tool that enables you to easily download many source trees for ROS packages with one command.

To install this tool and other dependencies for building ROS packages, run:

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

至此ROS（Melodic）安裝完成，運行roscore會看到ros系統啓動打印信息

接下來是安裝OpenCV3.2.0，需要將GPU加速支持加入編譯opencv

1.安裝依賴

sudo apt-get update
sudo apt-get install -y build-essential cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
sudo apt-get install -y libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev
sudo apt-get install -y python2.7-dev
sudo apt-get install -y python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libdc1394-22-dev
sudo apt-get install -y libv4l-dev v4l-utils qv4l2 v4l2ucp
sudo apt-get install -y curl

另外需要安裝libjasper-dev，這又是一大坑，由於我們是ARM架構的18.04，網上一般的方法都會報錯

E: Unable to locate package libjasper-dev

此時需要把/etc/apt/sources.lists的源（提前備份一下）換成如下

deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial main multiverse restricted universe
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial-security main multiverse restricted universe
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial-updates main multiverse restricted universe
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial-backports main multiverse restricted universe
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial main multiverse restricted universe
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial-security main multiverse restricted universe
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial-updates main multiverse restricted universe
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial-backports main multiverse restricted universe

sudo apt-get  update

sudo apt-get install libjasper1 libjasper-dev安裝成功

2.下載opencv源碼

mkdir -p ~/tools/
cd ~/tools/
curl -L https://github.com/opencv/opencv/archive/3.2.0.zip -o opencv-3.2.0.zip
unzip opencv-3.2.0.zip 

下載opencv_contrib

git clone https://github.com/opencv/opencv_contrib.git
cd opencv_contrib
git checkout -b v3.2.0 3.2.0

在opencv-3.2.0/cmake路徑下找到FindCUDA.cmake

找到 find_cuda_helper_libs(nppi) 替換爲

  find_cuda_helper_libs(nppial)
  find_cuda_helper_libs(nppicc)
  find_cuda_helper_libs(nppicom)
  find_cuda_helper_libs(nppidei)
  find_cuda_helper_libs(nppif)
  find_cuda_helper_libs(nppig)
  find_cuda_helper_libs(nppim)
  find_cuda_helper_libs(nppist)
  find_cuda_helper_libs(nppisu)
  find_cuda_helper_libs(nppitc)

• 找到行，

set(CUDA_npp_LIBRARY "${CUDA_nppc_LIBRARY};${CUDA_nppi_LIBRARY};${CUDA_npps_LIBRARY}")

• 替換爲：

set(CUDA_npp_LIBRARY "${CUDA_nppc_LIBRARY};${CUDA_nppial_LIBRARY};${CUDA_nppicc_LIBRARY};${CUDA_nppicom_LIBRARY};${CUDA_nppidei_LIBRARY};${CUDA_nppif_LIBRARY};${CUDA_nppig_LIBRARY};${CUDA_nppim_LIBRARY};${CUDA_nppist_LIBRARY};${CUDA_nppisu_LIBRARY};${CUDA_nppitc_LIBRARY};${CUDA_npps_LIBRARY}")

• 找到行

unset(CUDA_nppi_LIBRARY CACHE)

• 替換爲

unset(CUDA_nppial_LIBRARY CACHE)
unset(CUDA_nppicc_LIBRARY CACHE)
unset(CUDA_nppicom_LIBRARY CACHE)
unset(CUDA_nppidei_LIBRARY CACHE)
unset(CUDA_nppif_LIBRARY CACHE)
unset(CUDA_nppig_LIBRARY CACHE)
unset(CUDA_nppim_LIBRARY CACHE)
unset(CUDA_nppist_LIBRARY CACHE)
unset(CUDA_nppisu_LIBRARY CACHE)
unset(CUDA_nppitc_LIBRARY CACHE)

同路徑下找到OpenCVDetectCUDA.cmake

• 找到

 ...
  set(__cuda_arch_ptx "")
  if(CUDA_GENERATION STREQUAL "Fermi")
    set(__cuda_arch_bin "2.0")
  elseif(CUDA_GENERATION STREQUAL "Kepler")
    set(__cuda_arch_bin "3.0 3.5 3.7")
  ...

• 修改爲

  ...
  set(__cuda_arch_ptx "")
  if(CUDA_GENERATION STREQUAL "Kepler")
    set(__cuda_arch_bin "3.0 3.5 3.7")
  ...

在opencv-3.2.0/modules/cudev/include/opencv2/cudev路徑下找到common.hpp，打開加入

#include <cuda_fp16.h>

然後把路徑切換回 opencv-3.2.0下

3.編譯源碼

mkdir release
cd release/
cmake -D WITH_CUDA=ON -D CUDA_ARCH_BIN="7.2" -D ENABLE_PRECOMPILED_HEADERS=OFF  -D CUDA_ARCH_PTX="" -D WITH_GSTREAMER=ON -D WITH_LIBV4L=ON -D BUILD_TESTS=OFF -D BUILD_PERF_TESTS=OFF -D BUILD_EXAMPLES=OFF -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D OPENCV_EXTRA_MODULES_PATH=~/tools/opencv_contrib/modules ..

make -j8
sudo make install 

等待結束。

然後安裝Turtlebot

• 複製所需要的庫到對應的目錄

cd /usr/lib/aarch64-linux-gnu
sudo ln -s /usr/local/lib/libopencv_aruco.so.3.2.0  libopencv_aruco.so.3.2.0            
sudo ln -s /usr/local/lib/libopencv_cudaimgproc.so.3.2.0   libopencv_cudaimgproc.so.3.2.0 
sudo ln -s /usr/local/lib/libopencv_flann.so.3.2.0    libopencv_flann.so.3.2.0         
sudo ln -s /usr/local/lib/libopencv_phase_unwrapping.so.3.2.0  libopencv_phase_unwrapping.so.3.2.0
sudo ln -s /usr/local/lib/libopencv_surface_matching.so.3.2.0 libopencv_surface_matching.so.3.2.0
sudo ln -s /usr/local/lib/libopencv_bgsegm.so.3.2.0  libopencv_bgsegm.so.3.2.0         
sudo ln -s /usr/local/lib/libopencv_cudalegacy.so.3.2.0  libopencv_cudalegacy.so.3.2.0    
sudo ln -s /usr/local/lib/libopencv_freetype.so.3.2.0  libopencv_freetype.so.3.2.0       
sudo ln -s /usr/local/lib/libopencv_photo.so.3.2.0  libopencv_photo.so.3.2.0           
sudo ln -s /usr/local/lib/libopencv_text.so.3.2.0 libopencv_text.so.3.2.0
sudo ln -s /usr/local/lib/libopencv_bioinspired.so.3.2.0  libopencv_bioinspired.so.3.2.0    
sudo ln -s /usr/local/lib/libopencv_cudaobjdetect.so.3.2.0  libopencv_cudaobjdetect.so.3.2.0  
sudo ln -s /usr/local/lib/libopencv_fuzzy.so.3.2.0      libopencv_fuzzy.so.3.2.0       
sudo ln -s /usr/local/lib/libopencv_plot.so.3.2.0     libopencv_plot.so.3.2.0         
sudo ln -s /usr/local/lib/libopencv_videoio.so.3.2.0 libopencv_videoio.so.3.2.0
sudo ln -s /usr/local/lib/libopencv_calib3d.so.3.2.0   libopencv_calib3d.so.3.2.0       
sudo ln -s /usr/local/lib/libopencv_cudaoptflow.so.3.2.0    libopencv_cudaoptflow.so.3.2.0 
sudo ln -s /usr/local/lib/libopencv_hdf.so.3.2.0     libopencv_hdf.so.3.2.0          
sudo ln -s /usr/local/lib/libopencv_reg.so.3.2.0    libopencv_reg.so.3.2.0            
sudo ln -s /usr/local/lib/libopencv_video.so.3.2.0  libopencv_video.so.3.2.0
sudo ln -s /usr/local/lib/libopencv_ccalib.so.3.2.0   libopencv_ccalib.so.3.2.0        
sudo ln -s /usr/local/lib/libopencv_cudastereo.so.3.2.0   libopencv_cudastereo.so.3.2.0   
sudo ln -s /usr/local/lib/libopencv_highgui.so.3.2.0      libopencv_highgui.so.3.2.0     
sudo ln -s /usr/local/lib/libopencv_rgbd.so.3.2.0      libopencv_rgbd.so.3.2.0        
sudo ln -s /usr/local/lib/libopencv_videostab.so.3.2.0   libopencv_videostab.so.3.2.0
sudo ln -s /usr/local/lib/libopencv_core.so.3.2.0    libopencv_core.so.3.2.0         
sudo ln -s /usr/local/lib/libopencv_cudawarping.so.3.2.0  libopencv_cudawarping.so.3.2.0   
sudo ln -s /usr/local/lib/libopencv_imgcodecs.so.3.2.0   libopencv_imgcodecs.so.3.2.0      
sudo ln -s /usr/local/lib/libopencv_saliency.so.3.2.0    libopencv_saliency.so.3.2.0       
sudo ln -s /usr/local/lib/libopencv_viz.so.3.2.0   libopencv_viz.so.3.2.0
sudo ln -s /usr/local/lib/libopencv_cudaarithm.so.3.2.0   libopencv_cudaarithm.so.3.2.0    
sudo ln -s /usr/local/lib/libopencv_cudev.so.3.2.0    libopencv_cudev.so.3.2.0        
sudo ln -s /usr/local/lib/libopencv_imgproc.so.3.2.0   libopencv_imgproc.so.3.2.0        
sudo ln -s /usr/local/lib/libopencv_shape.so.3.2.0    libopencv_shape.so.3.2.0          
sudo ln -s /usr/local/lib/libopencv_xfeatures2d.so.3.2.0  libopencv_xfeatures2d.so.3.2.0
sudo ln -s /usr/local/lib/libopencv_cudabgsegm.so.3.2.0   libopencv_cudabgsegm.so.3.2.0    
sudo ln -s /usr/local/lib/libopencv_datasets.so.3.2.0     libopencv_datasets.so.3.2.0   
sudo ln -s /usr/local/lib/libopencv_line_descriptor.so.3.2.0   libopencv_line_descriptor.so.3.2.0
sudo ln -s /usr/local/lib/libopencv_stereo.so.3.2.0      libopencv_stereo.so.3.2.0       
sudo ln -s /usr/local/lib/libopencv_ximgproc.so.3.2.0    libopencv_ximgproc.so.3.2.0
sudo ln -s /usr/local/lib/libopencv_cudacodec.so.3.2.0    libopencv_cudacodec.so.3.2.0     
sudo ln -s /usr/local/lib/libopencv_dpm.so.3.2.0      libopencv_dpm.so.3.2.0        
sudo ln -s /usr/local/lib/libopencv_ml.so.3.2.0     libopencv_ml.so.3.2.0            
sudo ln -s /usr/local/lib/libopencv_stitching.so.3.2.0  libopencv_stitching.so.3.2.0         
sudo ln -s /usr/local/lib/libopencv_xobjdetect.so.3.2.0 libopencv_xobjdetect.so.3.2.0
sudo ln -s /usr/local/lib/libopencv_cudafeatures2d.so.3.2.0  libopencv_cudafeatures2d.so.3.2.0 
sudo ln -s /usr/local/lib/libopencv_face.so.3.2.0   libopencv_face.so.3.2.0          
sudo ln -s /usr/local/lib/libopencv_objdetect.so.3.2.0    libopencv_objdetect.so.3.2.0     
sudo ln -s /usr/local/lib/libopencv_structured_light.so.3.2.0  libopencv_structured_light.so.3.2.0  
sudo ln -s /usr/local/lib/libopencv_xphoto.so.3.2.0 libopencv_xphoto.so.3.2.0
sudo ln -s /usr/local/lib/libopencv_cudafilters.so.3.2.0    libopencv_cudafilters.so.3.2.0   
sudo ln -s /usr/local/lib/libopencv_features2d.so.3.2.0    libopencv_features2d.so.3.2.0 
sudo ln -s /usr/local/lib/libopencv_optflow.so.3.2.0    libopencv_optflow.so.3.2.0       
sudo ln -s /usr/local/lib/libopencv_superres.so.3.2.0     libopencv_superres.so.3.2.0 

• 安裝依賴：

$ sudo apt-get install ros-melodic-kobuki-*
$ sudo apt-get install ros-melodic-ecl-streams
$ sudo apt-get install libusb-dev
$ sudo apt-get install libspnav-dev
$ sudo apt-get install ros-melodic-joystick-drivers
$ sudo apt-get install bluetooth
$ sudo apt-get install libbluetooth-dev
$ sudo apt-get install libcwiid-dev

• 新建工作空間，準備相關包

$ mkdir -p ~/turtlebot/src 
$ cd ~/turtlebot/src 

$ git clone https://github.com/turtlebot/turtlebot_simulator
$ git clone https://github.com/turtlebot/turtlebot.git
$ git clone https://github.com/turtlebot/turtlebot_apps.git
$ git clone https://github.com/udacity/robot_pose_ekf
$ git clone https://github.com/ros-perception/depthimage_to_laserscan.git #需要依賴opencv3.2
$ git clone https://github.com/yujinrobot/kobuki_msgs.git
$ git clone https://github.com/yujinrobot/kobuki_desktop.git
$ cd kobuki_desktop/
$ rm -r kobuki_qtestsuite
$ git clone https://github.com/toeklk/orocos-bayesian-filtering.git
$ git clone https://github.com/turtlebot/turtlebot_msgs.git
$ git clone https://github.com/ros-drivers/joystick_drivers.git

• 複製kobuki和yujin_ocs依賴庫到turtlebot/src工作空間下

$ mkdir -p ~/repos/
$ cd ~/repos/
$ git clone https://github.com/yujinrobot/kobuki.git
$ cp -r kobuki/* ~/turtlebot/src/
$ git clone https://github.com/yujinrobot/yujin_ocs.git
$ cp -r yujin_ocs/yocs_cmd_vel_mux/ yujin_ocs/yocs_controllers ~/turtlebot/src/

• 編譯工作空間

$ cd ~/turtlebot
$ rosdep install --from-paths src --ignore-src -r -y
$ catkin_make

• 添加工作空間到bashrc文件

echo "source ~/turtlebot/devel/setup.bash" >> ~/.bashrc

• 啓用環境變量

source ~/.bashrc 

大功告成