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PVE下安装ROS[0]

Posted on 2023年11月14日 by

ROS下载地址,

  • 1,在PVE下部署ROS采用CHR版本

  • 2,在PVE中新建虚拟机

配置后的效果,此处需要删除硬盘

删除硬盘后的效果

  • 3,导入ROS的CHR版本img镜像文件

通过xshell连接到PVE的shell,将chr-6.46.img上传到/tmp目录下,进行硬盘转码

cd /tmp
#转换映像重命名
qemu-img convert -f raw -O qcow2  chr-6.46.img vm-103-disk-1.qcow2
#查看映像信息
qemu-img info vm-103-disk-1.qcow2
#增加映像大小 根据自己使用调整
qemu-img resize -f qcow2 vm-103-disk-1.qcow2 +1G
#加载映像到虚拟机
qm importdisk 103 vm-103-disk-1.qcow2 local-lvm
导入到PVE虚拟机103中,此时需要将硬盘接口改为SATA,否则无法启动

在启动前需要配置网口,此处将eth0和eth5配置给ROS,效果如下:

  • 4,启动ROS并进行基础配置

主要包括网口功能和地址分配,使得能够进入管理界面

#查看网口接口
interface 
pri
#分配ip地址
/ip add
pri
add address=10.10.10.3/24 interface=ether1
#若配置错误接口可以按照以下删除
remove 0

以上已经把ROS在PVE上安装完成,后续需要配置ROS,可以采用web和winbox两种方式进行,具体请见ROS基础网络配置。

参考资料:

  1. https://koolshare.cn/thread-159150-1-1.html

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