ROS ZYNQ移植

1  准备工作

全部是按照官方操作的：http://wiki.ros.org/groovy/Installation/Source  

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

出现错误，找不到源 ，那个就要进入提示的页面：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

按照里面步骤更新源，目的是能够安装ROS的工具，安装以下依赖库

• 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安装pip：（http://www.ros.org/wiki/ROS/Installation/EasyInstallConfig）

sudo easy_install pip

然后安装以下的包：（http://www.ros.org/wiki/fuerte/Installation/Ubuntu/Source）

sudo pip install -U rosdep

sudo pip install -U rosinstall

sudo pip install -U rospkg

安装python-wstool：

pip install -U wstool

redep初始化：

sudo rosdep init
rosdep update

2 下载源码

mkdir ~/ros_catkin_ws
cd ~/ros_catkin_ws

3 我晕 搞错了

  以上的步骤纯粹是从源码安装，每必要啊  ，可以从官方提供的方法http://wiki.ros.org/groovy/Installation/UbuntuARM   ，直接获取编译后的文件就可以用了，何必自己去编译呢，劳民伤财。本来LINUX基础就不是很好，还这么脑残的去自己编译。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

这里我选择在zynq上安装的是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

开始官方的初级教程

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

参考：

http://wiki.ros.org/groovy/Installation/UbuntuARM                            --  非常好  

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