10.25-ROS2安装

ros2 install

ros2 install
前言
参考
记录
二进制安装
安装RMW组件
ros1-bridge
源代码安装
准备
编译

TOC

前言

• 总要跟上潮流，参与最新实践

参考

index of ros2 wiki

记录

二进制安装

sudo apt update && sudo apt install curl gnupg2 lsb-release
curl http://repo.ros2.org/repos.key | sudo apt-key add -
sudo sh -c 'echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
export CHOOSE_ROS_DISTRO=crystal
sudo apt update
sudo apt install ros-$CHOOSE_ROS_DISTRO-desktop
# sudo apt install ros-$CHOOSE_ROS_DISTRO-ros-base
# 可选步骤，自动补全工具
sudo apt install python3-pip
sudo pip3 install argcomplete
# source
echo "source /opt/ros/$CHOOSE_ROS_DISTRO/setup.bash" >> ~/.bashrc

安装RMW组件

sudo apt update
sudo apt install ros-$CHOOSE_ROS_DISTRO-rmw-opensplice-cpp # for OpenSplice
sudo apt install ros-$CHOOSE_ROS_DISTRO-rmw-connext-cpp # for RTI Connext (requires license agreement)

By setting the environment variable RMW_IMPLEMENTATION=rmw_opensplice_cpp you can switch to use OpenSplice instead. For ROS 2 releases Bouncy and newer, RMW_IMPLEMENTATION=rmw_connext_cpp can also be selected to use RTI Connext.

ros1-bridge

sudo apt update
sudo apt install ros-$CHOOSE_ROS_DISTRO-ros1-bridge

源代码安装

准备

sudo apt update && sudo apt install -y 
  build-essential 
  cmake 
  git 
  python3-colcon-common-extensions 
  python3-lark-parser 
  python3-pip 
  python-rosdep 
  python3-vcstool 
  wget
sudo apt install --no-install-recommends -y 
  libasio-dev 
  libtinyxml2-dev
sudo python3 -m pip install -U 
  argcomplete 
  flake8 
  flake8-blind-except 
  flake8-builtins 
  flake8-class-newline 
  flake8-comprehensions 
  flake8-deprecated 
  flake8-docstrings 
  flake8-import-order 
  flake8-quotes 
  pytest-repeat 
  pytest-rerunfailures 
  pytest 
  pytest-cov 
  pytest-runner 
  setuptools

cd ./zsr_ws
wget https://raw.githubusercontent.com/ros2/ros2/crystal/ros2.repos
vcs import src < ros2.repos
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro crystal -y --skip-keys "console_bridge fastcdr fastrtps libopensplice67 libopensplice69 python3-lark-parser rti-connext-dds-5.3.1 urdfdom_headers"
sudo python3 -m pip install -U lark-parser

编译

cd zsr_ws
colcon build --symlink-install --packages-ignore qt_gui_cpp rqt_gui_cpp

哈哈,colcon的这个构建系统还是挺高端的，跟zte的有的一拼！