64 lines
2.0 KiB
Bash
64 lines
2.0 KiB
Bash
#!/bin/bash
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# 适用于 Jetson 等 ARM64 平台
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set -e # 遇到错误立即退出
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echo "========================================"
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echo " 开始安装 CUDA TensorRT"
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echo "========================================"
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# ==================== 系统基础工具 ====================
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echo "[1/7] 安装系统基础工具和库..."
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sudo apt-get update
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sudo apt-get install -y \
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v4l-utils \
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python3-pip \
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libsamplerate0-dev \
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libmpg123-dev \
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portaudio19-dev \
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# ==================== ROS Humble 核心包 ====================
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echo "[2/7] 安装 ROS Humble 核心功能包..."
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sudo apt-get install -y \
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ros-humble-camera-info-manager \
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ros-humble-image-transport-plugins \
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ros-humble-ament-cmake-clang-format \
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ros-humble-rosbridge-suite \
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# ==================== Python 依赖 (PyPI) ====================
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echo "[3/7] 安装 Python PyPI 依赖..."
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# 使用清华镜像加速
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pip install -i https://pypi.tuna.tsinghua.edu.cn/simple \
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'pydantic<2.0' \
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loguru \
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paho-mqtt \
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sounddevice \
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jsonschema
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# ==================== PyTorch ====================
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echo "[5/7] 安装 PyTorch (x86 版本)..."
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# 注意：使用 Jetson AI Lab 的 JP6 CUDA 12.6 版本
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pip3 install torch torchvision \
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--index-url https://download.pytorch.org/whl/cu126
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# ==================== 深度学习库 ====================
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echo "[6/7] 安装 Ultralytics (YOLO)..."
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pip install -i https://pypi.tuna.tsinghua.edu.cn/simple ultralytics
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# ==================== NumPy 版本固定 ====================
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echo "[7/7] 固定 NumPy 版本..."
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pip install numpy==1.26 -i https://pypi.tuna.tsinghua.edu.cn/simple
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echo ""
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echo "========================================"
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echo " 还剩CUDA（12.6） CUDNN TensorRT（10.4.0） 安装！"
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echo "========================================"
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echo ""
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echo "建议执行以下命令验证安装:"
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echo " ros2 pkg list | grep humble"
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echo " python3 -c 'import torch; print(torch.__version__)'"
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echo " python3 -c 'import numpy; print(numpy.__version__)'"
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