ืืงืืื
ืื ืื ืืขืจืข ืืึธื, ืืฉืขืช ืืื ืึทืจืืขื ืืืืฃ ืืืื ืืขืืืก, ืืื ืืื ืืขืืืขื ืคืืืกื ืืื ืื ื ืืื ืฆื ืฉืึทืคึฟื ืึท Ubuntu ืืืื ืคึฟืึทืจ ืึท ืืืื-ืืึธืจื ืคึผืืึทืืคืึธืจืืข ืืื ROS ืฉืืื ืืื ืกืืึทืืืจื (ืจืึธืืึธื ืึธืคึผืขืจืืืืื ื ืกืืกืืขื - ืจืึธืืึธื ืึธืคึผืขืจืืืืื ื ืกืืกืืขื). ืืื ืงืืจืฅ, ืื ืืืคึผืืึธื ืืื ืืขืืึทืงืืืืึทื ืฆื ืคืืจื ืึท ืืจืืคึผืข ืคืื โโืจืึธืืืึทืฅ. ืื ืจืึธืืืึทืฅ ืืขื ืขื ืืงืืืืคึผื ืืื ืฆืืืื ืืืืื ืืื ืืจืื ืจืึทื ืืขืคืื ืืขืจืก. ืื ืืื ืฆืข ืืึทื ืืื ืงืึทื ืืจืึธืืื ืคึฟืื ROS, ืืืึธืก ืืืืคื ืืืืฃ ืื ODROID-C2 ืืจืขื.
ืจืึธืืึธื ืืืืืืืึทื. ืื ืืฉืืืืืื ืคึฟืึทืจ ืื ื ืขืืขื ืคืึธืืึธ ืงืืืึทืืืืขื
ืขืก ืืื ื ืื ืงืืื ืฆืืื ืืื ืงืืื ืคืึทืจืืึทื ื ืฆื ืื ืกืืึทืืืจื ROS ืืืืฃ ืืขืืขืจ ืจืึธืืึธื ืื ืืืืืืืืฉืืึทืื, ืืื ืืขืจืืืขืจ ืขืก ืืื ืืขืืืขื ืึท ื ืืื ืคึฟืึทืจ ืึท ืกืืกืืขื ืืืื ืืื ROS ืฉืืื ืืื ืกืืึทืืืจื. ื ืึธื ืืจืึทืืืื ื ืื ืืื ืืขืจื ืขื, ืืื ืืขืคึฟืื ืขื ืขืืืขืืข ืึทืคึผืจืึธืืืฉืื ืฆื ืืื ืืึธืก ืงืขื ืืืื ืืขืืื.
ืืื ืึทืืืขืืืื, ืึทืืข ืืขืคึฟืื ืขื ืกืึทืืืฉืึทื ื ืงืขื ืขื ืืืื ืฆืขืืืืื ืืื ืื ืคืืืืขื ืืข ืืจืืคึผืขืก.
- ืืืืื ืืืึธืก ืืึทืื ืึท ืืืื ืคึฟืื ืึท ืคืึทืจืืืง ืืื ืงืึทื ืคืืืืขืจื ืกืืกืืขื (, , , ืกืืกืืขืืืึทืงืง, ืืื"ื ื)
- ืคึผืจืึทืืืฉืขืงืก ืืืึธืก ืืึธืื ืืืจ ืฆื ืฉืึทืคึฟื ืืืื ืืืืืขื ืข ืืืื (, )
- ืึทืกืขืืืึทื ืื ืืืื ืืื ( ะธ ืคึผืืืก )
ื ืืฆื ืกืึทืืืฉืึทื ื ืคืื ืืขืจ ืขืจืฉืืขืจ ืืจืืคึผืข ืกืืื ืฆื ืืืื ืื ืกืืืคึผืืึทืกื ืืื ืืขืจืกื ืึทืืจืึทืงืืืื ืึธืคึผืฆืืข, ืึธืืขืจ ืืื ืืื ืงืืื ืืึธื ืืืืืืช ืฆื ืฉืึทืคึฟื ืึท ืืขืื ืกืืกืืขื ืืืื ืคึฟืึทืจ ODROID. ืื ืืืืืื ืืขื ืคึฟืื ืืขืจ ืฆืืืืืืขืจ ืืจืืคึผืข ืืึธืื ืืืจ ืืืื ื ืืฉื ืืขืคึผืึทืกื ืฆืืืื ืืขืจ ืืึทื ืฅ ืืืื ืึทืจืฒึทื ืืึทื ื ืฉืืืขื. ืืึทื ืืึทื ืคึฟืึทืจืืึทืืืื ื ืืืื ืื ืื ืืืฆื ืืืืึธืจืืึทืื ืืื ืืืื ื ืืฉื ืคึผืึทืกืืง, ืืืืึทื ... ืืืื ืืืื ืืื ื ืืฉื ืืึธืื ืึท ืงืึทืืคึผืจืขืกื ืืขืงืข ืกืืกืืขื.
ืืื ืึท ืจืขืืืืืึทื, ืืื ืืขืคึฟืื ืขื ืึท ืืืืืขื ืืืขืื chroot (chroot - ืืืืฉื ืืืึธืจืฆื, ืืื ืง ืฆื ืื ืืืืืขื ืืื ืื ืกืืฃ ืคืื ืืขื ืคึผืึธืกืื) ืืื ืืืึทื ืงืืืคึผืึทืืืืึทืืื, ืขืก ืืื ืืึทืฉืืึธืกื ืฆื ื ืืฆื ืขืก. ืืขืจื ืึธื, ืืื ืืืขื ืืึทืฉืจืืึทืื ืืืื ืืึทืืื ืืขืจ ืคืึทื ืคืื ืงืึทืกืืึทืืืืืื ื ืืืื ืื ืคึฟืึทืจ ืจืึธืืืึทืืืงืก ืืขืืืขืืึธืคึผืขืจืก.
ืืงืืจ ืืึทืื:
- ืื ืืื ืฆืข ืืืื ืืึทืืึทืคืึทืงืืืฉืึทื ืคึผืจืึธืฆืขืก (ืึทืืืฅ ืคึฟืึทืจ ืฉืจืืืื ืฆื ืื ืกื ืงืึธืจื ื ืืฆื balenaEtcher) ืืื ืืืจืืืขืงืึธืื ืืืืฃ ืื Ubuntu 18.04 ืึธืคึผืขืจืืืืื ื ืกืืกืืขื.
- ืื ืึธืคึผืขืจืืืืื ื ืกืืกืืขื ืืืขืืขื ืก ืคึฟืึทืจืืึทืืืื ื ืืื ืืึทืืึทืคืืื ืืื Ubuntu 18.04.3 ืคึผืึธืจ ืืขืกืงืืึทืคึผ ืืืขืจืกืืข.
- ืื ืืึทืฉืื ืืืืฃ ืืืึธืก ืื ืึทืกืขืืืึทืื ืกืืกืืขื ืืึธื ืึทืจืืขืื ืืื ODROID-C2.
ืคึผืจืืคึผืขืจืื ื ืื ืืืื
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ืืจืืคืงืืคืืข ืื Ubuntu ืืืื ืคึฟืึทืจ ODROID ืคึฟืื
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ืึทื ืคึผืึทืง ืื ืึทืจืงืืืื
unxz โkv <ัะฐะนะป ะฐัั ะธะฒะฐ ั ะพะฑัะฐะทะพะผ> -
ืฉืึทืคึฟื ืึท ืืืขืืืืืึทืืขืจ ืืื ืืืึธืก ืืืจ ืืืขืื ืึธื ืงืืึทืคึผื ืื ืืืื
mkdir mnt -
ืืึทืฉืืืืขื ืื ืฆืขืืืืืื ื ืืืืฃ ืืืึธืก ืื ืืขืงืข ืกืืกืืขื ืืื ืืืื
file <ัะฐะนะป ะพะฑัะฐะทะฐ>ืืืจ ืืขื ืขื ืงืืงื ืคึฟืึทืจ ืึท ืฆืขืืืืืื ื ืืื ืึท ืืขืงืข ืกืืกืืขื ืืื ืขืงืกื 2, ืขืงืกื 3 ืึธืืขืจ ืขืงืกื 4 ืคึฟืึธืจืืึทื. ืืืจ ืืึทืจืคึฟื ืื ืึทืืจืขืก ืคืื ืื ืึธื ืืืื ืคืื ืื ืึธืคึผืืืืืื ื (ืืืืืืืืื ืืื ืจืืื ืืืืฃ ืืขื ืขืงืจืึทื):
ืืึทืืขืจืงืื ื. ืืขืจ ืึธืจื ืคืื ืืขืจ ืืขืงืข ืกืืกืืขื ืงืขื ืขื ืืืื ืืืื ืืืืื ืืื ืื ื ืืฆื ืคึผืึทืจืืึทื. -
ืืึทืื ืืื ื ืื ืืืื
sudo mount -o loop,offset=$((264192*512)) <ัะฐะนะป ั ะพะฑัะฐะทะพะผ> mnt/ืืขืจ ืึธืคึผืืืืืื ื ืืืจ ืืึทืจืคึฟื ืกืืึทืจืฅ ืืื ืืืึธืง 264192 (ืืืื ื ืืืขืจื ืงืขื ืืืื ืึทื ืืขืจืฉ), ืื ืืจืืืก ืคืื ืืืื ืืืึธืง ืืื 512 ืืืืขืก, ืืขืจื ืืื ืฆื ืืึทืงืืืขื ืื ืื ืืขื ืืืืฉืึทื ืืื ืืืืขืก.
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ืืืื ืฆื ืืขืจ ืืขืงืข ืืื ืื ืืึธืื ืืขื ืกืืกืืขื ืืื ืืขื ืืขื ืืื ืืื ืขืก
cd mnt/ sudo chroot ~/livecd/mnt/ bin/sh~/livecd/mnt - ืคืื ืืืขื ืฆื ืืขืจ ืืืขืืืืืึทืืขืจ ืืื ืื ืืึธืื ืืขื ืกืืกืืขื
ืืื / ืฉ - ืฉืึธื (ืงืขื ืขื ืืืื ืืืื ืจืืคึผืืืืกื ืืื bin / bash)
ืืืฆื ืืืจ ืงืขื ืขื ืึธื ืืืืื ืื ืกืืึธืืื ื ืื ื ืืืืืง ืคึผืึทืงืึทืืืฉืึทื ืืื ืึทืคึผืืึทืงืืืฉืึทื ื.
ืื ืกืืึธืืื ื ROS
ืืื ืืื ืกืืึทืืืจื ืื ืืขืฆืืข ืืืขืจืกืืข ืคืื โโROS (ROS Melodic) ืืืื ืฆื .
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ืืขืจืืืึทื ืืืงื ืื ืจืฉืืื ืคืื ืคึผืึทืงืึทืืืฉืึทื
sudo apt-get updateืืึธืก ืืื ืืื ืืื ืืึทื ืืขืจ ืืขืืช:
Err:6 http://deb.odroid.in/c2 bionic InRelease The following signatures were invalid: EXPKEYSIG 5360FB9DAB19BAC9 Mauro Ribeiro (mdrjr) <[email protected]>ืืึธืก ืืื ืจืขืื ืฆื ืืขื ืคืึทืงื ืึทื ืืขืจ ืคึผืขืงื ืกืืื ืื ื ืฉืืืกื ืืื ืืืืกืืขืืื ืืขื. ืฆื ืืขืจืืืึทื ืืืงื ืื ืฉืืืกืืขื, ืืืคึผ:
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys AB19BAC9 -
ืคึผืจืืคึผืขืจืื ื ืื ืกืืกืืขื ืคึฟืึทืจ ืื ืกืืึธืืื ื ROS
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 C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654sudo apt update -
ืื ืกืืึธืืื ื ROS
ืฆืื ืืึทืืืืขืจื, ืืื ืงืขื ื ืืฉื ืื ืกืืึทืืืจื ืื ืืขืกืงืืึทืคึผ ืืืขืจืกืืข ืคืื โโROS, ืึทืืื ืืื ืืื ืกืืึทืืืจื ืืืืื ืื ืืงืขืจืืืง ืคึผืึทืงืึทืืืฉืึทื:sudo apt install ros-melodic-ros-base apt search ros-melodicืืึทืืขืจืงืื ื 1. ืืขืฉืึทืก ืื ืืึทื ืืึธื ืืืจืื ื ืคึผืจืึธืฆืขืก ืืื ืึท ืืขืืช ืคืืจืืขืงืืืขื:
dpkg: error: failed to write status database record about 'iputils-ping' to '/var/lib/dpkg/status': No space left on deviceืขืก ืืื ืืขืืืขื ืคืึทืจืคืขืกืืืงื ืืืจื ืืืกืืขืงื ืื ืงืึทืฉ ืืื ืื ืคืืืืง ื ืืฆื:
sudo apt-get clean; sudo apt-get autocleanืืึทืืขืจืงืื ื 2. ื ืึธื ืืึทื ืืึธื ืืืจืื ื, ืืงืืจ ื ืืฆื ืื ืืึทืคึฟืขื:
source /opt/ros/melodic/setup.bashืขืก ืืืขื ื ืืฉื ืึทืจืืขืื, ืืืืึทื ืืืจ ืืึธืื ื ืืฉื ืืืืคื ืืึทืฉ, ืึทืืื ืขืก ืืึทืจืฃ ื ืืฉื ืืืื ืืืืคึผื ืืื ืื ืืืึธืงืืึทื.
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ืื ืกืืึธืืื ื ืื ื ืืืืืง ืืืคึผืขื ืืึทื ืกืื
sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essentialsudo apt install python-rosdepsudo rosdep init rosdep update -
ืืึทืฉืืขืืืงื ืึทืงืกืขืก ืจืขืื
ืืื ื ืืืจ ืืขื ืขื ืืึธืื ืืื ืืื, ืืื ืคืึทืงื, ืืืจืืคืืจื ืึทืืข ืึทืงืฉืึทื ื ืืืืฃ ืืืืึทืฃ ืคืื ืื ืืืึธืจืฆื ืคืื ืื ืกืืกืืขื ืืืึธืก ืืื ืึทืกืขืืืึทืื, ROS ืืืขื ืืืื ืืึธื ืืฉื ืืืืื ืืื ืกืืคึผืขืจืืกืขืจ ืจืขืื.
ืืืขื ืืจืืื ื ืฆื ืืืืคื ืจืึธืกืงืึธืจืข ืึธื ืกืืืึธ, ืึท ืืขืืช ืึทืงืขืจื:Traceback (most recent call last): File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/__init__.py", line 230, in main write_pid_file(options.pid_fn, options.core, options.port) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/__init__.py", line 106, in write_pid_file with open(pid_fn, "w") as f: IOError: [Errno 13] Permission denied: '/home/user/.ros/roscore-11311.pid'ืฆื ืคืึทืจืืืึทืื ืื ืืขืืช ืคืื ืืขืฉืขืขื ืืฉ, ืืึธืื ืืื ืื ืจืขืงืืจืกืืืืื ืืืืฉื ืื ืึทืงืกืขืก ืจืขืื ืฆื ืื ROS ืืึทื ืืฆืขืจ ืก ืืืื ืืืขืืืืืึทืืขืจ. ืฆื ืืึธื ืืึธืก, ืืืจ ืึทืจืืึทื:
sudo rosdep fix-permissions -
ื ืึธื ืื ืกืืึทืืืจืื ื ืคืื ืื rviz ืืื rqt ืคึผืึทืงืึทืืืฉืึทื
sudo apt-get install ros-melodic-rqt ros-melodic-rviz
ืืขืฆื ืจืืจื
- ืึทืจืืืกืืึทื ื ืืฉืจืึธืึธื:
exit - ืึทืจืึธืคึผื ืขืืขื ืื ืืืื
cd .. sudo umount mnt/ - ืืื ืก ืคึผืึทืงื ืื ืกืืกืืขื ืืืื ืืื ืึทื ืึทืจืงืืืื
xz โckv1 <ัะฐะนะป ะพะฑัะฐะทะฐ>
ืึทืืข! ืืืฆื ืืื ืืขืจ ืืืืฃ ืืืจ ืงืขื ืขื ืคืึทืจืืจืขื ืขื ืื ืกืืกืืขื ืืืื ืฆื ืึท ืกื ืงืึธืจื, ืึทืจืืึทื ืืืืื ืขืก ืืื ODROID-C2, ืืื ืืืจ ืืืขื ืืึธืื Ubuntu ืืื ROS ืืื ืกืืึทืืืจื!
ืืื ืงืก:
- ืืขืจ ืืืืืขื ืืขืืึธืืคึฟื ืึท ืคึผืืึทืฅ ืืื ืืื ืฆื ืึธืคึผื ืึทืจื ืืื ืืื ืืงืก ืืื ืืืึธืก ืืืจ ืืึทืจืคึฟื ืขืก:
ืืงืืจ: www.habr.com