换源

换到阿里云的源（不要清华的，有些东西会下载失败）

如有需要，可以安装一下基础终端工具

sudo apt-get update
sudo apt-get install terminator byobu net-tools openssh-server -y

如果有需要，下载deb并安装NoMachine和VSCode

sudo dpkg -i nomachine_8.8.1_1_arm64.deb code_1.81.0-1690979901_arm64.deb

安装ROS

1. 配置sources.list

sudo sh -c ‘echo “deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main” > /etc/apt/sources.list.d/ros-latest.list’

2. 配置keys

sudo apt install curl -y
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

3. 安装ROS

sudo apt update
sudo apt install ros-noetic-desktop-full -y

4. ROS环境配置

echo “source /opt/ros/noetic/setup.bash” >> ~/.bashrc
source ~/.bashrc

5. 安装编译依赖

sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential -y
sudo rosdep init
rosdep update

安装MAVROS（二进制安装）

sudo apt-get install ros-noetic-mavros ros-noetic-mavros-extras
wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
sudo bash install_geographiclib_datasets.sh

雷达配置

1. 编译USB摄像头驱动

sudo apt-get install libv4l-dev
cd ~/cam_ws
catkin_make -DCMAKE_BUILD_TYPE=Release

2. 编译安装Livox-SDK-master

cd ~/Livox-SDK-master
mkdir build
cd build
cmake …
make -j
sudo make install

3. 编译安装Livox-SDK2

cd ~/Livox-SDK2
mkdir build
cd build
cmake …
make -j
sudo make install

4. 编译Livox ROS Driver

cd ~/livox_ws/src/livox_ros_driver2
./build.sh ROS1

5. 安装jsk工具包

sudo apt install ros-noetic-jsk-perception ros-noetic-jsk-visualization -y

6. 编译fastlio2

source ~/livox_ws/devel/setup.bash
cd ~/fast_lio_rofly
catkin_make -DCMAKE_BUILD_TYPE=Release

7. 将N100的有线网IPv4地址设为静态地址192.168.1.xx（建议192.168.1.50）
8. 打开~/livox_ws/src/livox_ros_driver2/config/MID360_config.json文件，内容如下：

{
“lidar_summary_info” : {
“lidar_type”: 8
},
“MID360”: {
“lidar_net_info” : {
“cmd_data_port”: 56100,
“push_msg_port”: 56200,
“point_data_port”: 56300,
“imu_data_port”: 56400,
“log_data_port”: 56500
},
“host_net_info” : {
“cmd_data_ip” : “192.168.1.50”, //本机静态IP
“cmd_data_port”: 56101,
“push_msg_ip”: “192.168.1.50”, //本机静态IP
“push_msg_port”: 56201,
“point_data_ip”: “192.168.1.50”, //本机静态IP
“point_data_port”: 56301,
“imu_data_ip” : “192.168.1.50”, //本机静态IP
“imu_data_port”: 56401,
“log_data_ip” : “”,
“log_data_port”: 56501
}
},
“lidar_configs” : [
{
“ip” : “192.168.1.135”, //雷达固定IP
“pcl_data_type” : 1,
“pattern_mode” : 0,
“extrinsic_parameter” : {
“roll”: 0.0,
“pitch”: 0.0,
“yaw”: 0.0,
“x”: 0,
“y”: 0,
“z”: 0
}
}
]
}

将上述注释的IP作对应修改。
9. 修改MAVROS apm.launch文件
roscd mavros/launch
sudo nano apm.launch
文件内容如下：

    <arg name="fcu_url" default="/dev/ttyACM1:57600" />
    <arg name="gcs_url" default="" />
    <arg name="tgt_system" default="1" />
    <arg name="tgt_component" default="1" />
    <arg name="log_output" default="screen" />
    <arg name="fcu_protocol" default="v2.0" />
    <arg name="respawn_mavros" default="false" />

    <include file="$(find mavros)/launch/node.launch">
            <arg name="pluginlists_yaml" value="$(find mavros)/launch/apm_pluginlists.yaml" />
            <arg name="config_yaml" value="$(find mavros)/launch/apm_config.yaml" />

            <arg name="fcu_url" value="$(arg fcu_url)" />
            <arg name="gcs_url" value="$(arg gcs_url)" />
            <arg name="tgt_system" value="$(arg tgt_system)" />
            <arg name="tgt_component" value="$(arg tgt_component)" />
            <arg name="log_output" value="$(arg log_output)" />
            <arg name="fcu_protocol" value="$(arg fcu_protocol)" />
            <arg name="respawn_mavros" value="$(arg respawn_mavros)" />
    </include>

将其中第5行的57600改为921600（飞控参数需与此一致）；fcu_url一行的串口名根据实际情况修改