NVIDIA Jetson TK1 rosrun rviz segmentation fault的解决方法

在NVIDIA Jetson TK1开发版上运行rosrun rviz rviz出现segmentation falut错误。

常见的解决方法，见Alyson的博客:NvidiaTegra TK1 安裝 ROS on Ubuntu arm 發生 Segmentation fault 解決方式

一、重新设定tk的显卡设置sudo apt-get purge nvidia-*sudo rm /etc/X11/xorg.conf 　# if the file does not exist , then is OKsudo apt-get install nvidia-common ubuntu-desktopsudo apt-get install --reinstall xserver-xorg-video-nouveausudo dpkg-reconfigure xserver-xorgsudo reboot二、重新编译安装robot modelsudo apt-get remove ros-indigo-robot-modelcd ~/catkin_ws/srcgit clone https://github.com/ros/robot_model.gitcd ~/catkin_wscatkin_makesource devel/setup.bashrospack profile三、unset GTK_IM_MODULEecho "unset GTK_IM_MODULE" >> ~/.bashrcsource ~/.bashrc

但是以上方法，并没有解决我的问题。另一种方法是HomeBrew Robotics Club上的一个帖子
This was much easier to get working then I thought - ROS Indigo on JETSON TK1提到的解决方案，如下：

sudo apt-get install ros-indigo-arbotix \ros-indigo-dynamixel-motor ros-indigo-rosbridge-suite \ros-indigo-mjpeg-server ros-indigo-rgbd-launch \ros-indigo-openni-camera \python-pygraph python-pygraphviz python-easygui \mini-httpd ros-indigo-laser-pipeline ros-indigo-ar-track-alvar \ros-indigo-laser-filters ros-indigo-hokuyo-node \ros-indigo-depthimage-to-laserscan ros-indigo-moveit-ikfast \ros-indigo-smach ros-indigo-smach-ros ros-indigo-grasping-msgs \ros-indigo-executive-smach ros-indigo-smach-viewer \ros-indigo-robot-pose-publisher ros-indigo-tf2-web-republisher \graphviz-dev libgraphviz-dev gv python-scipysudo apt-get install ros-indigo-turtlebot-*sudo apt-get install ros-indigo-gazebo-*sudo apt-get install ros-indigo-moveit-*sudo apt-get install ros-indigo-kobuki-* ros-indigo-moveit-python

可是以上方法还是没有解决运行rviz出现segmentation fault的问题。。。Orz
参见这篇帖子Rviz on XU3 Ubuntu 14.04，貌似这是一个bug，解决改错误需要将libpcre3更新到8.35，或将collada-dom-dev更新到2.4.4。我两个都安装了，如下：

dpkg -i libpcre3_8.35-7.1ubuntu1_armhf.debsudo apt-get install collada-dom-devsudo apt-get install collada-dom2.4-sp-basesudo apt-get install collada-dom2.4-sp-dev

以上，解决在NVIDIA Jetson TK1开发板上运行rosrun rviz rviz出现segmentation fault错误的问题。

参考
1. NvidiaTegra TK1 安裝 ROS on Ubuntu arm 發生 Segmentation fault 解決方式
2. This was much easier to get working then I thought - ROS Indigo on JETSON TK1
3. Rviz on XU3 Ubuntu 14.04