树莓派4B刷固件卸载ROS包

sudo apt list --installed

　　

sudo apt --purge remove ros-noetic-hls-lfcd-lds-driver

　　

sudo apt-get autoremove ros-noetic-hls-lfcd-lds-driver

　　

sudo apt-get --purge remove ros-noetic-turtlebot3-msgs

　　

sudo apt-get autoremove ros-noetic-turtlebot3-msgs

　　

git clone -b noetic-devel https://gitee.com/kay2020/hls_lfcd_lds_driver.git

　　

git clone -b noetic-devel https://gitee.com/kay2020/turtlebot3.git

　　

sudo dpkg --add-architecture armhf
sudo apt-get update
sudo apt-get install libc6:armhf

　　

git clone https://gitee.com/kay2020/OpenCR-Binaries.git

　　

 tar -xvf opencr_update.tar.bz2 

　　

export OPENCR_PORT=/dev/ttyACM0
export OPENCR_MODEL=burger_noetic

　　

cd ./opencr_update
./update.sh $OPENCR_PORT $OPENCR_MODEL.opencr

　　

sudo dpkg --add-architecture armhf
sudo apt-get update
sudo apt-get install libc6:armhf

echo export OPENCR_PORT=/dev/ttyACM0 >> ~/.bashrc
echo export OPENCR_MODEL=burger_noetic >> ~/.bashrc

sudo mkdir  ~/Tools

cd ~/Tools
git clone https://gitee.com/kay2020/OpenCR-Binaries.git

#到最新目录下
tar -xvf opencr_update.tar.bz2

cd ./opencr_update
./update.sh $OPENCR_PORT $OPENCR_MODEL.opencr