BeagleBone black 移植ubuntu14.04系统并安装ros

在Beaglbone black 上移植Ubuntu 14.04系统，

BeagleBone Black microSD Card Installation

1. Insert the microSD Card into your computer and observe which device it registers as by typing ls /dev/sd*. If you are uncertain, remove the microSD Card and the entry should go away. Once you know which device your microSD Card is, follow the instructions below replacing /dev/sdX with the name of the microSD Card in your system.
2. Begin partitioning the microSD Card by typing fdisk /dev/sdX
   1. Initialize a new partition table by selecting o, then verify the partition table is empty by selecting p.
   2. Create a boot partition by selecting n for ‘new’, then p for ‘primary’, and 1 to specify the first partition. Press enter to accept the default first sector and specify 4095 for the last sector.
   3. Change the partition type to FAT16 by selecting t for ‘type’ and e for ‘W95 FAT16 (LBA)’.
   4. Set the partition bootable by selecting a then 1.
   5. Next, create the data partition for the root filesystem by selecting n for ‘new’, then p for ‘primary’, and 2 to specify the second partition. Accept the default values for the first and last sectors by pressing enter twice.
   6. Press p to ‘print’ the partition table. It should look similar to the one below.

   Disk /dev/sdb: 7948 MB, 7948206080 bytes
   255 heads, 63 sectors/track, 966 cylinders, total 15523840 sectors
   Units = sectors of 1 * 512 = 512 bytes
   Sector size (logical/physical): 512 bytes / 512 bytes
   I/O size (minimum/optimal): 512 bytes / 512 bytes
   Disk identifier: 0xafb3f87b
   
      Device Boot      Start         End      Blocks   Id  System
   /dev/sdb1   *        2048        4095        1024    e  W95 FAT16 (LBA)
   /dev/sdb2            4096    15523839     7759872   83  Linux

   7. Finally, commit the changes by selecting w to ‘write’ the partition table and exit fdisk.
3. Format the Partitions
   1. Format partition 1 as FAT by typing mkfs.vfat /dev/sdX1
   2. Format partition 2 as ext4 by typing mkfs.ext4 /dev/sdX2
4. Install u-boot to the microSD Card

wget 
mkdir boot
mount /dev/sdX1 boot
tar xJvf bone-uboot.tar.xz -C boot
umount boot

5. Install the desired root filesystem to the microSD Card (ubuntu trusty in this example)

wget 
mkdir rootfs
mount /dev/sdX2 rootfs
tar xJvf ubuntu-trusty-14.04-rootfs-3.14.4.1-bone-armhf.com.tar.xz -C rootfs
umount rootfs

6. The microSD Card is now ready to boot. Note that for ubuntu installations, the login userid is ubuntu and the password is ubuntu. Likewise for debian installations, the login userid is debian and the password is debian.

Tip: The package cache has been flushed to reduce the size of the images. Run apt-get update after boot to update the package cache, then run apt-get upgrade to ensure the latest updates are installed.

试过这此方法是可行的，成功安装上Ubuntu14.04. 转载的地址是

ros安装参照的是ros wiki上的方法直接安装。
Installation

Configure your Ubuntu repositories

Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse." You can for instructions on doing this.

Setup your sources.list

Setup your computer to accept software from ROS.org.

• Ubuntu 10.04 (Lucid)

  • sudo sh -c 'echo "deb  lucid main" > /etc/apt/sources.list.d/ros-latest.list'

  Ubuntu 10.10 (Maverick)

  • sudo sh -c 'echo "deb  maverick main" > /etc/apt/sources.list.d/ros-latest.list'

  Ubuntu 11.04 (Natty)

  • sudo sh -c 'echo "deb  natty main" > /etc/apt/sources.list.d/ros-latest.list'

  Ubuntu 11.10 (Oneiric)

  • sudo sh -c 'echo "deb  oneiric main" > /etc/apt/sources.list.d/ros-latest.list'

Set up your keys

• wget  -O - | sudo apt-key add -

Installation

Make sure you have re-indexed the ROS.org server:

• sudo apt-get update

There are many different libraries and tools in ROS. We provided four default configurations to get you started. You can also install ROS stacks individually.

• Desktop-Full Install: (Recommended): ROS, , , robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception

  • sudo apt-get install ros-electric-desktop-full

    or

  Desktop Install: ROS, , , and robot-generic libraries

  • sudo apt-get install ros-electric-desktop

    or

  ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools.

  • sudo apt-get install ros-electric-ros-base

    or

  Individual Stack: You can also install a specific ROS stack (replace underscores with dashes of the stack name):

  • sudo apt-get install ros-electric-STACK

    e.g.

    sudo apt-get install ros-electric-slam-gmapping

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