第一步：
參照orangePi的文檔岭洲，燒錄系統(tǒng)和開啟GPIO
第二步：
? ? 2? sudo orangepi-config
? ? 3? locale
? ? 4? sudo apt update && sudo apt install locales
? ? 5? sudo locale-gen en_US en_US.UTF-8
? ? 6? sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
? ? 7? export LANG=en_US.UTF-8
? ? 8? locale
? ? 9? sudo apt install software-properties-common
? 10? sudo add-apt-repository universe
? 11? sudo apt update && sudo apt install curl -y
? 12? sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
? 13? echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
? 14? sudo apt update
? 15? sudo apt install ros-humble-desktop
? 16? sudo apt install ros-dev-tools
? 17? sudo vim ~/.bashrc
? 18? source ~/.bashrc
? 19 ros2 run demo_nodes_cpp talker
安裝mavsdk 和 mavros：
? ? sudo dpkg -i /home/orangepi/libmavsdk-dev_1.4.18_debian11_arm64.deb
? ? sudo apt install ros-humble-mavros
安裝PLC：
? ?sudo apt-get install ros-humble-pcl-ros
安裝navigation2：
? ? sudo apt install ros-humble-navigation2
? ?sudo apt install ros-humble-nav2-bringup
安裝-realsense2：
? ? sudo apt install ros-humble-librealsense2*
? ? udo apt install ros-humble-realsense2-*
? ? sudo apt install ros-humble-realsense2-*
安裝ros-bridge
sudo apt-get install ros-humble-rosbridge-suite
安裝rtabmap_ros：
sudo apt install ros-humble-rtabmap*
