树莓派2代B型 安装ROS indigo (Ubuntu ARM)

之前将树莓派2代B型 安装了Ubuntu 14.04 LTS系统，由于它是Ubuntu for ARM，因此参考ROS官网对应的安装教程应该为Ubuntu ARM install of ROS Indigo。

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 Set your Locale

Boost and some of the ROS tools require that the system locale be set. You can set it with:

sudo update-locale LANG=C LANGUAGE=C LC_ALL=C LC_MESSAGES=POSIX

3 Setup your sources.list

Setup your computer to accept software from the ARM mirror on packages.ros.org.

Due to limited resources, there are only active builds for Trusty armhf
(14.04), since this is the stable, long-term Ubuntu release and is the
most-requested distribution in conjunction with ROS Indigo.

Ubuntu 14.04 (Trusty armhf)

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.lis

4 Set up your keys

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

5 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 -
not all 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-indigo-ros-base

• Desktop Install: ROS, rqt, rviz, and robot-generic libraries

sudo apt-get install ros-indigo-desktop

6 Initialize rosdep

Before you can use ROS, you will need to install and 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 apt-get install python-rosdep
sudo rosdep init
rosdep update

7 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/indigo/setup.bash" >> ~/.bashrc
source ~/.bashrc

8 Getting rosinstall

rosinstall is a frequently used command-line tool in ROS that is distributed
separately. It enables you to easily download many source trees for ROS
packages with one command.

To install this tool on Ubuntu, run:

sudo apt-get install python-rosinstall

到此树莓派2B上安装indigo ros基本完成。

参考文献：

indigo/Installation/UbuntuARM – ROS Wiki

在树莓派2B上搭建indigo ros 开发环境