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Compile ROS1 for a ARM-based SBC (Raspberry Pi and similar devices) on your computer

Packages to install

qemu-system-arm
qemu-utils
qemu-user-static
binfmt-support
devscripts
libguestfs-tools

Instructions

The scripts are configured by default to compile and create chroots based on ROS1's expected Ubuntu installation: a Ubuntu 20.04 LTS system up-to-date with its security repository.

There are variables that enable the modification to compile and generate chroots for all GNU/Linux distributions supported by debootstrap.

Bootstraping a chroot

This step is required if you wish to compile and install ROS1 on a ARM-based SBC.

  1. Run, with administrator priviledges,the script bootstrap-chroot-32.sh or bootstrap-chroot-64.sh, depending on the Operating System installed on your Single Board Computer. This step will be successfull if Git can be successfully installed after authorising uts installation.

Compiling and installing on Ubuntu-based Systems

After setting the chroot up, you must run one of the compilation and installation scripts. The version will depend on the architecture and the operating system on your SBC.

  1. Run, with administrator priviledges,the script ubuntu-compile-install-ros1-32.sh or ubuntu-compile-install-ros1-64.sh, depending on the Operating System installed on your Single Board Computer.
  2. Authorise the operations inside the chrooted environment using the CHROOTED_USER's password defined in the chroot-env-vars.sh script.
  3. ROS will be installed on the CHROOTED_USER's home directory. Depending on your operating system, you may need to install ros-dev-tools or a similar package.

Installing ROS1 Dependencies after compiling it

  1. Copy the directory with the compiled results and the dependency scripts to the target system.
  2. Install the basic dependencies. This step depends on the operating system.
  3. Run the dependency script ros1-noetic-packages.sh to install the full list of dependencies.

Installing the basic dependencies on Ubuntu 20.04 LTS (Focal)

The following script will install the basic dependencies and run the dependency script.

sudo apt install --yes git wget software-properties-common
sudo add-apt-repository --yes universe

sudo wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O /usr/share/keyrings/ros-archive-keyring.gpg

echo "deb [signed-by=/usr/share/keyrings/ros-archive-keyring.gpg arch=$(dpkg --print-architecture)] http://packages.ros.org/ros/ubuntu focal main" | sudo tee /etc/apt/sources.list.d/ros1.list > /dev/null
sudo apt update

sudo apt install --yes ros-dev-tools

sudo ./ros1-noetic-packages.sh
Última atualização: 2023-11-25
Criado em: 2023-11-25