ROS2

RK3588 Ubuntu ROS2 开发环境配置

友善之臂

Posted by LXG on June 24, 2026

烧录和更新


sudo apt update
sudo apt upgrade -y
sudo reboot

查看内核版本


pi@NanoPi-R6C:~$ uname -a
Linux NanoPi-R6C 6.1.99 #56 SMP Thu Jun 12 15:43:53 CST 2025 aarch64 aarch64 aarch64 GNU/Linux

安装开发工具


sudo apt install -y git vim curl wget build-essential cmake python3-pip

安装ROS2

Ubuntu版本 推荐ROS版本 状态
Ubuntu 22.04 ROS2 Humble LTS
Ubuntu 22.04 ROS2 Iron 已停止维护
Ubuntu 22.04 ROS2 Jazzy 官方不支持

安装 ROS2 Humble

添加 ROS2 仓库


sudo apt update
sudo apt install software-properties-common curl -y

sudo add-apt-repository universe

添加 ROS key


sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
-o /usr/share/keyrings/ros-archive-keyring.gpg

# 国内网络下载失败处理
# 浏览器下载： https://raw.githubusercontent.com/ros/rosdistro/master/ros.key
# scp 命令传递给rk3588

lxg@lxg:~/Downloads$ scp ros.key pi@192.168.110.59:/home/pi


pi@NanoPi-R6C:~$ ls
Desktop  Documents  Downloads  Music  Pictures  Public  Templates  Videos  ros.key
pi@NanoPi-R6C:~$ sudo cp ros.key /usr/share/keyrings/ros-archive-keyring.gpg
pi@NanoPi-R6C:~$ ls /usr/share/keyrings/ros-archive-keyring.gpg
/usr/share/keyrings/ros-archive-keyring.gpg

添加源


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

更新和安装


sudo apt update

sudo apt install ros-humble-desktop -y

配置环境变量


echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc

source ~/.bashrc

pi@NanoPi-R6C:~$ printenv | grep ROS
ROS_VERSION=2
ROS_PYTHON_VERSION=3
ROS_LOCALHOST_ONLY=0
ROS_DISTRO=humble

深度相机

Orbbec Gemini 335 VS 336L

对比项 Orbbec Gemini 335 Orbbec Gemini 336L
定位 室内机器人、桌面建图、视觉AI 无人车、AGV、户外机器人
深度技术 双目立体视觉 + IR投射 双目立体视觉 + IR投射
基线长度 50 mm 95 mm
深度范围 0.26 ~ 10 m 0.25 ~ 20 m
最佳工作距离 0.3 ~ 3 m 0.3 ~ 6 m
2m深度精度 ≤1.5% ≤0.8%
RGB分辨率 1920×1080 @30fps 1280×800 @60fps
RGB快门 Rolling Shutter Global Shutter
深度分辨率 1280×800 1280×800
视场角(FOV) 87° × 58° 94° × 68°
户外抗阳光能力 一般 较强
运动场景表现 一般 优秀
SLAM建图效果 良好 优秀
视觉里程计(VIO) 可用 更稳定
RTAB-Map 可用 推荐
ORB-SLAM3 可用 推荐
ROS2支持 官方支持 官方支持
IP防护等级 IP5X IP65
工作温度 -10℃ ~ 45℃ -10℃ ~ 50℃
重量 97 g 133 g
体积 更小 更大
价格 较便宜 较贵
适合场景 室内小车、学习ROS 园区配送车、巡检机器人

下载 Orbbec SDK

OrbbecSDK_v2-Download


lxg@lxg:~/Downloads$ scp OrbbecSDK_v2.8.6_202604271452_6399409_linux_arm64.tar.gz pi@192.168.110.59:/home/pi

lxg@lxg:~/Downloads$ scp OrbbecViewer_v2.8.6_202604271453_db82a04_linux_arm64.tar.gz  pi@192.168.110.59:/home/pi

pi@NanoPi-R6C:~/OrbbecCamera$ ls
OrbbecSDK_v2.8.6_202604271452_6399409_linux_arm64.tar.gz  OrbbecViewer_v2.8.6_202604271453_db82a04_linux_arm64.tar.gz

pi@NanoPi-R6C:~/OrbbecCamera$ tar -zxvf OrbbecSDK_v2.8.6_202604271452_6399409_linux_arm64.tar.gz

pi@NanoPi-R6C:~/OrbbecCamera$ tar -zxvf OrbbecViewer_v2.8.6_202604271453_db82a04_linux_arm64.tar.gz

配置相机权限


sudo vim /etc/udev/rules.d/99-orbbec.rules

# Orbbec Gemini 335
SUBSYSTEM=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0800", MODE="0666", GROUP="plugdev"
SUBSYSTEM=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0801", MODE="0666", GROUP="plugdev"
SUBSYSTEM=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0802", MODE="0666", GROUP="plugdev"
SUBSYSTEM=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0803", MODE="0666", GROUP="plugdev"
SUBSYSTEM=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0804", MODE="0666", GROUP="plugdev"
SUBSYSTEM=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0805", MODE="0666", GROUP="plugdev"
SUBSYSTEM=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0806", MODE="0666", GROUP="plugdev"
SUBSYSTEM=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0807", MODE="0666", GROUP="plugdev"
SUBSYSTEM=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0808", MODE="0666", GROUP="plugdev"
SUBSYSTEM=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0809", MODE="0666", GROUP="plugdev"
SUBSYSTEM=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="080a", MODE="0666", GROUP="plugdev"
SUBSYSTEM=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="080b", MODE="0666", GROUP="plugdev"
SUBSYSTEM=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="080c", MODE="0666", GROUP="plugdev"

sudo udevadm control --reload-rules
sudo udevadm trigger

启动相机


pi@NanoPi-R6C:~/OrbbecCamera/OrbbecViewer_v2.8.6_202604271453_db82a04_linux_arm64$ ./OrbbecViewer

监控CPU温度


sudo apt update
sudo apt install lm-sensors
sudo sensors-detect

watch -n 1 sensors

pi@NanoPi-R6C:~/OrbbecCamera/OrbbecViewer_v2.8.6_202604271453_db82a04_linux_arm64$ watch -n 1 sensors
pi@NanoPi-R6C:~/OrbbecCamera/OrbbecViewer_v2.8.6_202604271453_db82a04_linux_arm64$ sensors
npu_thermal-virtual-0
Adapter: Virtual device
temp1:        +58.2°C  (crit = +115.0°C)

center_thermal-virtual-0
Adapter: Virtual device
temp1:        +57.3°C  (crit = +115.0°C)

bigcore1_thermal-virtual-0
Adapter: Virtual device
temp1:        +61.9°C  (crit = +115.0°C)

soc_thermal-virtual-0
Adapter: Virtual device
temp1:        +60.1°C  (crit = +115.0°C)

simple_vin-isa-0000
Adapter: ISA adapter
in0:          19.80 V  

gpu_thermal-virtual-0
Adapter: Virtual device
temp1:        +57.3°C  (crit = +115.0°C)

littlecore_thermal-virtual-0
Adapter: Virtual device
temp1:        +61.0°C  (crit = +115.0°C)

bigcore0_thermal-virtual-0
Adapter: Virtual device
temp1:        +61.9°C  (crit = +115.0°C)

温度总结

传感器 温度
CPU大核 61.9℃
CPU小核 61.0℃
GPU 57.3℃
NPU 58.2℃
SoC 60.1℃
中心温度 57.3℃

负载查看

rk3588_orbbec_htop

安装 rtabmap


sudo apt install \
ros-humble-rtabmap \
ros-humble-rtabmap-ros \
ros-humble-rtabmap-msgs
CATALOG