01.4 Installation ROS 1 Melodic
ROS is the short form of Robot Operating System and resembles an open-source framework. Based on the Publish-Subscriber (Observer) pattern, it uses different nodes to communicate with a Master (in contrast to ROS2).
For our system we use ROS Melodic which is an LTS version getting support until 05.2023 and providing ARM64 support as well as running on Ubuntu 18.04. To get used to ROS it is recommended to practice using examples like Turtlebot. We are tied to Ubuntu 18.04 since the NVIDIA Jetpack SDK is not supporting Ubuntu 20.04 at the time of this writing (03.2021). A migration to ROS2 is planned in the future and depends higly on the support of drivers and libraries.
Following the instructions given in the ROS Docs
* sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
* sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
* sudo apt update
* sudo apt install ros-melodic-desktop-full
Now, in order to later be able to control the AGX via SSH one-liner (More input here) make sure to add the source actions at the top of the .bashrc file by executing sudo gedit ~/.bashrc. An editor should open and you should see the file. Now add the following two lines (marked in red) at the top of the file in order to be able to execute ROS commands from every shell you open in the future:
source /opt/ros/melodic/setup.bash
source catkin_ws/devel/setup.bash
Now continue to install the other ROS tools:
* sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
* sudo apt install python-rosdep
* sudo rosdep init
* rosdep update
If you have troubles with the Python2/3 setup below you might try out this installation guide using only Python3 in your catkin_ws (Link).
