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源码安装ROS Melodic Python3 指南（转） + 安装记录

这篇文章转自 https://blog.csdn.net/id9502/article/details/80410989

csdn真是作大死，我保存这篇博客的时候还不需要花钱就能看，现在居然要vip才能看

简直就是ros源码阅读顺序表

1. 首先安装基本依赖包：

安装ros依赖：

sudo apt install python3-rosdep2 python3-rosinstall-generator python3-rosinstall build-essential python3-defusedxml python3-netifaces

安装编译依赖：

sudo apt install libeigen3-dev libboost-thread-dev libgtest-dev libconsole-bridge-dev libpoco-dev python3-sip-dev libboost-filesystem-dev libboost-program-options-dev libtinyxml2-dev libtinyxml-dev pyqt5-dev libcurl4-openssl-dev libboost-regex-dev liblz4-dev libbz2-dev libboost-singals-dev liburdfdom-headers-dev liburdfdom-dev uuid-dev libassimp-dev libogre-1.9-dev libyaml-cpp-dev

2. 配置rosdep

mkdir setups
cd setups
touch rosdep
chmod +x ./rosdep

添加脚本内容：

#!/usr/bin/env python3

from rosdep2.main import rosdep_main
rosdep_main()

执行

sudo ./rosdep init
./rosdep update

3. 获取基本ros环境的源码

首先下载执行文件

wget https://raw.githubusercontent.com/ros-infrastructure/rosinstall_generator/master/bin/rosinstall_generator
wget https://raw.githubusercontent.com/vcstools/wstool/master/scripts/wstool
wget https://raw.githubusercontent.com/ros-infrastructure/rospkg/master/scripts/rosversion
wget https://raw.githubusercontent.com/ros-infrastructure/catkin_pkg/master/bin/catkin_find_pkg
wget https://raw.githubusercontent.com/ros-infrastructure/catkin_pkg/master/bin/catkin_create_pkg
wget https://raw.githubusercontent.com/ros-infrastructure/catkin_pkg/master/bin/catkin_generate_changelog
wget https://raw.githubusercontent.com/ros-infrastructure/catkin_pkg/master/bin/catkin_tag_changelog
wget https://raw.githubusercontent.com/ros-infrastructure/catkin_pkg/master/bin/catkin_test_changelog
chmod +x ./rosinstall_generator
chmod +x ./wstool
chmod +x ./rosversion
chmod +x ./catkin_find_pkg
chmod +x ./catkin_create_pkg
chmod +x ./catkin_generate_changelog
chmod +x ./catkin_tag_changelog
chmod +x ./catkin_test_changelog

记得修改第一行引用的python 为python3，并把下面的from _future_ import 行删除

新建总工程目录并执行ros源代码下载

mkdir ../workspace
cd ../workspace
../setups/rosinstall_generator desktop_full --rosdistro melodic --deps --tar > melodic-desktop-full.rosinstall
../setups/wstool init -j8 src melodic-desktop-full.rosinstall

如果安装失败的话，可以试试继续安装：

../setups/wstool update -j 8 -t src

接下来解决依赖

../setups/rosdep install --from-paths src --ignore-src --rosdistro melodic -y

4. 安装Catkin

从Github Catkin上下载源码，cmake并选择python版本为3，安装地址选为自己的环境文件夹env

export ROS_PYTHON_VERSION=3
mkdir build
cd build
cmake ..
make DESTDIR=xxxxxxx
make install

然后回到workspace目录
修改 ./src/orocos_kinematics_dynamics/python_orocos_kdl/CMakeLists.txt 中

SET(PYTHON_VERSION 2 CACHE STRING "Python Version")

改为

SET(PYTHON_VERSION 3 CACHE STRING "Python Version")

修改 src/dynamic_reconfigure/cfg/Test.cfg 和 src/nodelet_core/nodelet_topic_tools/cfg/NodeletThrottle.cfg 第一行为

#! /usr/bin/env python3

添加 regex 依赖到 src/ros_comm/rosconsole/CMakeLists.txt 72 行后（维持其他不变，添加boost_regex）

target_link_libraries(rosconsole ${rosconsole_backend_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES} boost_regex)

修改 src/vision_opencv/cv_bridge/CMakeLists.txt 11 行为

find_package(Boost REQUIRED python-py36)

../env/setup.sh 最后一行添加

export ROS_PYTHON_VERSION=3

5. 开始编译

source ../env/setup.zsh
catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
mv ../setups/* ../env/bin/

如果想更换安装地点的话，可以在最后catkin之后加 –install-space xxxxxxx

6. 开始使用ROS

以后任何新Term执行ROS命令前都要载入配置环境（也可以加入~/.bashrc或者~/.zshrc里面自动执行）

source ../env/setup.zsh

启动 ros 调度核心

roscore

开新窗口启动 rviz 来测试

rosrun rviz rviz

若能成功启动，万事大吉！

备注：rqt 系列的 ros 程序似乎没有自动修改第一行为 python3，需要手动修改。

1’. 懒人福利

简单编译后打包好的 deb 文件（不对安装结果负责，因为依赖太多了数不清，所以如果有不能运行的按照log添加添加吧，另外欢迎随意修正这个 deb），如果你和我一样用的 debian testing 系统，欢迎直接 copy 我编译完的二进制包：https://pan.baidu.com/s/1WmZAA7J-2uvSz8S9-XmdWQ

下面是我自己的安装记录================================

2019年07月28日 12:55

rosdep2 rosinstall-generator rosinstall 之类的可以找到源码自己装

也可以pip装

wstool我用源码装的

workspace我单独建了个文件夹，

rosinstall_generator desktop_full --rosdistro melodic --deps --tar > melodic-desktop-full.rosinstall
wstool init -j8 src melodic-desktop-full.rosinstall

这两句里头的melodic我都换成了kinetic，然后发现workspace文件夹下生成了一个src文件夹，以及一个

kinetic-desktop-full.rosinstall文件，内容如下：

  1 - tar:
  2     local-name: actionlib
  3     uri: https://github.com/ros-gbp/actionlib-release/archive/release/kinetic/actionlib/1.11.13-0.tar.gz
  4     version: actionlib-release-release-kinetic-actionlib-1.11.13-0
  5 - tar:
  6     local-name: angles
  7     uri: https://github.com/ros-gbp/geometry_angles_utils-release/archive/release/kinetic/angles/1.9.11-0.tar.gz
  8     version: geometry_angles_utils-release-release-kinetic-angles-1.9.11-0
  9 - tar:
 10     local-name: bond_core/bond
 11     uri: https://github.com/ros-gbp/bond_core-release/archive/release/kinetic/bond/1.8.3-0.tar.gz
 12     version: bond_core-release-release-kinetic-bond-1.8.3-0
 13 - tar:
 14     local-name: bond_core/bond_core
 15     uri: https://github.com/ros-gbp/bond_core-release/archive/release/kinetic/bond_core/1.8.3-0.tar.gz
 16     version: bond_core-release-release-kinetic-bond_core-1.8.3-0
 17 - tar:
 18     local-name: bond_core/bondcpp
 19     uri: https://github.com/ros-gbp/bond_core-release/archive/release/kinetic/bondcpp/1.8.3-0.tar.gz
 20     version: bond_core-release-release-kinetic-bondcpp-1.8.3-0
 21 - tar:
 22     local-name: bond_core/bondpy
 23     uri: https://github.com/ros-gbp/bond_core-release/archive/release/kinetic/bondpy/1.8.3-0.tar.gz
 24     version: bond_core-release-release-kinetic-bondpy-1.8.3-0
 25 - tar:
 26     local-name: bond_core/smclib
 27     uri: https://github.com/ros-gbp/bond_core-release/archive/release/kinetic/smclib/1.8.3-0.tar.gz
 28     version: bond_core-release-release-kinetic-smclib-1.8.3-0
 29 - tar:
 30     local-name: catkin
 31     uri: https://github.com/ros-gbp/catkin-release/archive/release/kinetic/catkin/0.7.18-1.tar.gz
 32     version: catkin-release-release-kinetic-catkin-0.7.18-1
 33 - tar:
 34     local-name: class_loader
 35     uri: https://github.com/ros-gbp/class_loader-release/archive/release/kinetic/class_loader/0.3.9-0.tar.gz
 36     version: class_loader-release-release-kinetic-class_loader-0.3.9-0
 37 - tar:
 38     local-name: cmake_modules
 39     uri: https://github.com/ros-gbp/cmake_modules-release/archive/release/kinetic/cmake_modules/0.4.2-0.tar.gz
 40     version: cmake_modules-release-release-kinetic-cmake_modules-0.4.2-0
 41 - tar:
 42     local-name: collada_urdf/collada_parser
 43     uri: https://github.com/ros-gbp/collada_urdf-release/archive/release/kinetic/collada_parser/1.12.12-0.tar.gz
 44     version: collada_urdf-release-release-kinetic-collada_parser-1.12.12-0
 45 - tar:
 46     local-name: collada_urdf/collada_urdf
 47     uri: https://github.com/ros-gbp/collada_urdf-release/archive/release/kinetic/collada_urdf/1.12.12-0.tar.gz
 48     version: collada_urdf-release-release-kinetic-collada_urdf-1.12.12-0
 49 - tar:
 50     local-name: common_msgs/actionlib_msgs
 51     uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/actionlib_msgs/1.12.7-0.tar.gz
 52     version: common_msgs-release-release-kinetic-actionlib_msgs-1.12.7-0
 53 - tar:
 54     local-name: common_msgs/common_msgs
 55     uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/common_msgs/1.12.7-0.tar.gz
 56     version: common_msgs-release-release-kinetic-common_msgs-1.12.7-0
 57 - tar:
 58     local-name: common_msgs/diagnostic_msgs
 59     uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/diagnostic_msgs/1.12.7-0.tar.gz
 60     version: common_msgs-release-release-kinetic-diagnostic_msgs-1.12.7-0
 61 - tar:
 62     local-name: common_msgs/geometry_msgs
 63     uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/geometry_msgs/1.12.7-0.tar.gz
 64     version: common_msgs-release-release-kinetic-geometry_msgs-1.12.7-0
 65 - tar:
 66     local-name: common_msgs/nav_msgs
 67     uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/nav_msgs/1.12.7-0.tar.gz
 68     version: common_msgs-release-release-kinetic-nav_msgs-1.12.7-0
 69 - tar:
 70     local-name: common_msgs/sensor_msgs
 71     uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/sensor_msgs/1.12.7-0.tar.gz
 72     version: common_msgs-release-release-kinetic-sensor_msgs-1.12.7-0
 73 - tar:
 74     local-name: common_msgs/shape_msgs
 75     uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/shape_msgs/1.12.7-0.tar.gz
 76     version: common_msgs-release-release-kinetic-shape_msgs-1.12.7-0
 77 - tar:
 78     local-name: common_msgs/stereo_msgs
 79     uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/stereo_msgs/1.12.7-0.tar.gz
 80     version: common_msgs-release-release-kinetic-stereo_msgs-1.12.7-0
 81 - tar:
 82     local-name: common_msgs/trajectory_msgs
 83     uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/trajectory_msgs/1.12.7-0.tar.gz
 84     version: common_msgs-release-release-kinetic-trajectory_msgs-1.12.7-0
 85 - tar:
 86     local-name: common_msgs/visualization_msgs
 87     uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/visualization_msgs/1.12.7-0.tar.gz
 88     version: common_msgs-release-release-kinetic-visualization_msgs-1.12.7-0
 89 - tar:
 90     local-name: common_tutorials/actionlib_tutorials
 91     uri: https://github.com/ros-gbp/common_tutorials-release/archive/release/kinetic/actionlib_tutorials/0.1.10-0.tar.gz
 92     version: common_tutorials-release-release-kinetic-actionlib_tutorials-0.1.10-0
 93 - tar:
 94     local-name: common_tutorials/common_tutorials
 95     uri: https://github.com/ros-gbp/common_tutorials-release/archive/release/kinetic/common_tutorials/0.1.10-0.tar.gz
 96     version: common_tutorials-release-release-kinetic-common_tutorials-0.1.10-0
 97 - tar:
 98     local-name: common_tutorials/nodelet_tutorial_math
 99     uri: https://github.com/ros-gbp/common_tutorials-release/archive/release/kinetic/nodelet_tutorial_math/0.1.10-0.tar.gz
100     version: common_tutorials-release-release-kinetic-nodelet_tutorial_math-0.1.10-0
101 - tar:
102     local-name: common_tutorials/pluginlib_tutorials
103     uri: https://github.com/ros-gbp/common_tutorials-release/archive/release/kinetic/pluginlib_tutorials/0.1.10-0.tar.gz
104     version: common_tutorials-release-release-kinetic-pluginlib_tutorials-0.1.10-0
105 - tar:
106     local-name: common_tutorials/turtle_actionlib
107     uri: https://github.com/ros-gbp/common_tutorials-release/archive/release/kinetic/turtle_actionlib/0.1.10-0.tar.gz
108     version: common_tutorials-release-release-kinetic-turtle_actionlib-0.1.10-0
109 - tar:
110     local-name: control_msgs
111     uri: https://github.com/ros-gbp/control_msgs-release/archive/release/kinetic/control_msgs/1.5.0-0.tar.gz
112     version: control_msgs-release-release-kinetic-control_msgs-1.5.0-0
113 - tar:
114     local-name: diagnostics/diagnostic_aggregator
115     uri: https://github.com/ros-gbp/diagnostics-release/archive/release/kinetic/diagnostic_aggregator/1.9.3-0.tar.gz
116     version: diagnostics-release-release-kinetic-diagnostic_aggregator-1.9.3-0
117 - tar:
118     local-name: diagnostics/diagnostic_analysis
119     uri: https://github.com/ros-gbp/diagnostics-release/archive/release/kinetic/diagnostic_analysis/1.9.3-0.tar.gz
120     version: diagnostics-release-release-kinetic-diagnostic_analysis-1.9.3-0
121 - tar:
122     local-name: diagnostics/diagnostic_common_diagnostics
123     uri: https://github.com/ros-gbp/diagnostics-release/archive/release/kinetic/diagnostic_common_diagnostics/1.9.3-0.tar.gz
124     version: diagnostics-release-release-kinetic-diagnostic_common_diagnostics-1.9.3-0
125 - tar:
126     local-name: diagnostics/diagnostic_updater
127     uri: https://github.com/ros-gbp/diagnostics-release/archive/release/kinetic/diagnostic_updater/1.9.3-0.tar.gz
128     version: diagnostics-release-release-kinetic-diagnostic_updater-1.9.3-0
129 - tar:
130     local-name: diagnostics/diagnostics
131     uri: https://github.com/ros-gbp/diagnostics-release/archive/release/kinetic/diagnostics/1.9.3-0.tar.gz
132     version: diagnostics-release-release-kinetic-diagnostics-1.9.3-0
133 - tar:
134     local-name: diagnostics/self_test
135     uri: https://github.com/ros-gbp/diagnostics-release/archive/release/kinetic/self_test/1.9.3-0.tar.gz
136     version: diagnostics-release-release-kinetic-self_test-1.9.3-0
137 - tar:
138     local-name: dynamic_reconfigure
139     uri: https://github.com/ros-gbp/dynamic_reconfigure-release/archive/release/kinetic/dynamic_reconfigure/1.5.50-0.tar.gz
140     version: dynamic_reconfigure-release-release-kinetic-dynamic_reconfigure-1.5.50-0
141 - tar:
142     local-name: eigen_stl_containers
143     uri: https://github.com/ros-gbp/eigen_stl_containers-release/archive/release/kinetic/eigen_stl_containers/0.1.8-0.tar.gz
144     version: eigen_stl_containers-release-release-kinetic-eigen_stl_containers-0.1.8-0
145 - tar:
146     local-name: executive_smach/executive_smach
147     uri: https://github.com/ros-gbp/executive_smach-release/archive/release/kinetic/executive_smach/2.0.1-0.tar.gz
148     version: executive_smach-release-release-kinetic-executive_smach-2.0.1-0
149 - tar:
150     local-name: executive_smach/smach
151     uri: https://github.com/ros-gbp/executive_smach-release/archive/release/kinetic/smach/2.0.1-0.tar.gz
152     version: executive_smach-release-release-kinetic-smach-2.0.1-0
153 - tar:
154     local-name: executive_smach/smach_msgs
155     uri: https://github.com/ros-gbp/executive_smach-release/archive/release/kinetic/smach_msgs/2.0.1-0.tar.gz
156     version: executive_smach-release-release-kinetic-smach_msgs-2.0.1-0
157 - tar:
158     local-name: executive_smach/smach_ros
159     uri: https://github.com/ros-gbp/executive_smach-release/archive/release/kinetic/smach_ros/2.0.1-0.tar.gz
160     version: executive_smach-release-release-kinetic-smach_ros-2.0.1-0
161 - tar:
162     local-name: filters
163     uri: https://github.com/ros-gbp/filters-release/archive/release/kinetic/filters/1.7.5-0.tar.gz
164     version: filters-release-release-kinetic-filters-1.7.5-0
165 - tar:
166     local-name: gazebo_ros_pkgs/gazebo_dev
167     uri: https://github.com/ros-gbp/gazebo_ros_pkgs-release/archive/release/kinetic/gazebo_dev/2.5.19-1.tar.gz
168     version: gazebo_ros_pkgs-release-release-kinetic-gazebo_dev-2.5.19-1
169 - tar:
170     local-name: gazebo_ros_pkgs/gazebo_msgs
171     uri: https://github.com/ros-gbp/gazebo_ros_pkgs-release/archive/release/kinetic/gazebo_msgs/2.5.19-1.tar.gz
172     version: gazebo_ros_pkgs-release-release-kinetic-gazebo_msgs-2.5.19-1
173 - tar:
174     local-name: gazebo_ros_pkgs/gazebo_plugins
175     uri: https://github.com/ros-gbp/gazebo_ros_pkgs-release/archive/release/kinetic/gazebo_plugins/2.5.19-1.tar.gz
176     version: gazebo_ros_pkgs-release-release-kinetic-gazebo_plugins-2.5.19-1
177 - tar:
178     local-name: gazebo_ros_pkgs/gazebo_ros
179     uri: https://github.com/ros-gbp/gazebo_ros_pkgs-release/archive/release/kinetic/gazebo_ros/2.5.19-1.tar.gz
180     version: gazebo_ros_pkgs-release-release-kinetic-gazebo_ros-2.5.19-1
181 - tar:
182     local-name: gazebo_ros_pkgs/gazebo_ros_pkgs
183     uri: https://github.com/ros-gbp/gazebo_ros_pkgs-release/archive/release/kinetic/gazebo_ros_pkgs/2.5.19-1.tar.gz
184     version: gazebo_ros_pkgs-release-release-kinetic-gazebo_ros_pkgs-2.5.19-1
185 - tar:
186     local-name: gencpp
187     uri: https://github.com/ros-gbp/gencpp-release/archive/release/kinetic/gencpp/0.6.0-0.tar.gz
188     version: gencpp-release-release-kinetic-gencpp-0.6.0-0
189 - tar:
190     local-name: geneus
191     uri: https://github.com/tork-a/geneus-release/archive/release/kinetic/geneus/2.2.6-0.tar.gz
192     version: geneus-release-release-kinetic-geneus-2.2.6-0
193 - tar:
194     local-name: genlisp
195     uri: https://github.com/ros-gbp/genlisp-release/archive/release/kinetic/genlisp/0.4.16-0.tar.gz
196     version: genlisp-release-release-kinetic-genlisp-0.4.16-0
197 - tar:
198     local-name: genmsg
199     uri: https://github.com/ros-gbp/genmsg-release/archive/release/kinetic/genmsg/0.5.11-0.tar.gz
200     version: genmsg-release-release-kinetic-genmsg-0.5.11-0
201 - tar:
202     local-name: gennodejs
203     uri: https://github.com/RethinkRobotics-release/gennodejs-release/archive/release/kinetic/gennodejs/2.0.1-0.tar.gz
204     version: gennodejs-release-release-kinetic-gennodejs-2.0.1-0
205 - tar:
206     local-name: genpy
207     uri: https://github.com/ros-gbp/genpy-release/archive/release/kinetic/genpy/0.6.7-0.tar.gz
208     version: genpy-release-release-kinetic-genpy-0.6.7-0
209 - tar:
210     local-name: geometric_shapes
211     uri: https://github.com/ros-gbp/geometric_shapes-release/archive/release/kinetic/geometric_shapes/0.5.4-1.tar.gz
212     version: geometric_shapes-release-release-kinetic-geometric_shapes-0.5.4-1
213 - tar:
214     local-name: geometry/eigen_conversions
215     uri: https://github.com/ros-gbp/geometry-release/archive/release/kinetic/eigen_conversions/1.11.9-0.tar.gz
216     version: geometry-release-release-kinetic-eigen_conversions-1.11.9-0
217 - tar:
218     local-name: geometry/geometry
219     uri: https://github.com/ros-gbp/geometry-release/archive/release/kinetic/geometry/1.11.9-0.tar.gz
220     version: geometry-release-release-kinetic-geometry-1.11.9-0
221 - tar:
222     local-name: geometry/kdl_conversions
223     uri: https://github.com/ros-gbp/geometry-release/archive/release/kinetic/kdl_conversions/1.11.9-0.tar.gz
224     version: geometry-release-release-kinetic-kdl_conversions-1.11.9-0
225 - tar:
226     local-name: geometry/tf
227     uri: https://github.com/ros-gbp/geometry-release/archive/release/kinetic/tf/1.11.9-0.tar.gz
228     version: geometry-release-release-kinetic-tf-1.11.9-0
229 - tar:
230     local-name: geometry/tf_conversions
231     uri: https://github.com/ros-gbp/geometry-release/archive/release/kinetic/tf_conversions/1.11.9-0.tar.gz
232     version: geometry-release-release-kinetic-tf_conversions-1.11.9-0
233 - tar:
234     local-name: geometry2/tf2
235     uri: https://github.com/ros-gbp/geometry2-release/archive/release/kinetic/tf2/0.5.20-0.tar.gz
236     version: geometry2-release-release-kinetic-tf2-0.5.20-0
237 - tar:
238     local-name: geometry2/tf2_eigen
239     uri: https://github.com/ros-gbp/geometry2-release/archive/release/kinetic/tf2_eigen/0.5.20-0.tar.gz
240     version: geometry2-release-release-kinetic-tf2_eigen-0.5.20-0
241 - tar:
242     local-name: geometry2/tf2_geometry_msgs
243     uri: https://github.com/ros-gbp/geometry2-release/archive/release/kinetic/tf2_geometry_msgs/0.5.20-0.tar.gz
244     version: geometry2-release-release-kinetic-tf2_geometry_msgs-0.5.20-0
245 - tar:
246     local-name: geometry2/tf2_kdl
247     uri: https://github.com/ros-gbp/geometry2-release/archive/release/kinetic/tf2_kdl/0.5.20-0.tar.gz
248     version: geometry2-release-release-kinetic-tf2_kdl-0.5.20-0
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903     uri: https://github.com/ros-gbp/visualization_tutorials-release/archive/release/kinetic/visualization_marker_tutorials/0.10.3-0.tar.gz
904     version: visualization_tutorials-release-release-kinetic-visualization_marker_tutorials-0.10.3-0
905 - tar:
906     local-name: visualization_tutorials/visualization_tutorials
907     uri: https://github.com/ros-gbp/visualization_tutorials-release/archive/release/kinetic/visualization_tutorials/0.10.3-0.tar.gz
908     version: visualization_tutorials-release-release-kinetic-visualization_tutorials-0.10.3-0
909 - tar:
910     local-name: webkit_dependency
911     uri: https://github.com/ros-gbp/webkit_dependency-release/archive/release/kinetic/webkit_dependency/1.1.0-0.tar.gz
912     version: webkit_dependency-release-release-kinetic-webkit_dependency-1.1.0-0
913 - tar:
914     local-name: xacro
915     uri: https://github.com/ros-gbp/xacro-release/archive/release/kinetic/xacro/1.11.3-0.tar.gz
916     version: xacro-release-release-kinetic-xacro-1.11.3-0

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wstool init -j8 src melodic-desktop-full.rosinstall 的作用相当于是下载源代码

开始执行这一句之后src文件夹下就出现了上马rosinstall文件里描述的各个包的源码，

这些源码要下很长时间，估计如果不想要所有的包，上面的desktop_full可以控制生成的

rosinstall的内容，不要full，只要一部分的包。

这些包里头最基础的两个包应该就是 ros 、 ros_comm 、 ros_comm_msgs 等

这几个包了

wstool update -j 8 -t src 可以从断点处继续下载这些包。

src文件夹下各个包的组织形式看起来已经是package的样子了。

源码下载我下了很久也没下完，跳过，试着运行下一步。

rosdep install --from-paths src --ignore-src --rosdistro melodic -y

运行这一句的时候会报错，当然要报错了，因为我有些包都没下完。报错信息大概

如下：

scj@scjComputer:~/myROS/workspace$ rosdep install --from-paths src --ignore-src --rosdistro kinetic -y
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
nodelet_tutorial_math: No definition of [std_msgs] for OS [debian]
depth_image_proc: No definition of [image_geometry] for OS [debian]
gazebo_msgs: No definition of [std_msgs] for OS [debian]
compressed_image_transport: No definition of [cv_bridge] for OS [debian]
orocos_kdl: No definition of [eigen] for OS version []
eigen_conversions: No definition of [std_msgs] for OS [debian]
ros_comm: No definition of [roslisp] for OS [debian]
rosbag: No definition of [boost] for OS version []
kdl_parser: No definition of [urdf] for OS [debian]
gazebo_ros: No definition of [std_msgs] for OS [debian] 

略

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看了报错信息，看了下src文件夹下已经下载的包，应该是相符的。

后面的catkin安装，又碰到了一些找错了python版本，找不到一些包，安装目录

的设置等问题，都是常见问题。

报没有empy 设置可执行文件路路径为：

/home/scj/anaconda3/lib/python3.6/site-packages/em.py

报找不到caktin_pkg，可我明明已经装了，那就找到导入了catkin_pkg的地方，

插入下面两句：

import sys

sys.path.append("/home/scj/anaconda3/lib/python3.6/site-packages")

我的catkin_pkg就是装在这个地方

zsh的问题没搞定，直接source sh了，然后还有报错 error: option --install-layout not recognized :

https://github.com/ros/catkin/issues/863

  1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  2 ~~  traversing 160 packages in topological order:
  3 ~~  - catkin
  4 ~~  - genmsg
  5 ~~  - gencpp
  6 ~~  - geneus
  7 ~~  - genlisp
  8 ~~  - gennodejs
  9 ~~  - genpy
 10 ~~  - bond_core
 11 ~~  - cmake_modules
 12 ~~  - class_loader
 13 ~~  - common_msgs
 14 ~~  - common_tutorials
 15 ~~  - desktop
 16 ~~  - desktop_full
 17 ~~  - diagnostics
 18 ~~  - eigen_stl_containers
 19 ~~  - executive_smach
 20 ~~  - gazebo_dev
 21 ~~  - gazebo_ros_pkgs
 22 ~~  - geometry
 23 ~~  - geometry_tutorials
 24 ~~  - gl_dependency
 25 ~~  - image_common
 26 ~~  - image_pipeline
 27 ~~  - image_transport_plugins
 28 ~~  - laser_pipeline
 29 ~~  - media_export
 30 ~~  - message_generation
 31 ~~  - actionlib_msgs
 32 ~~  - bond
 33 ~~  - diagnostic_msgs
 34 ~~  - geometry_msgs
 35 ~~  - message_runtime
 36 ~~  - mk
 37 ~~  - nav_msgs
 38 ~~  - nodelet_core
 39 ~~  - octomap (plain cmake)
 40 ~~  - orocos_kdl (plain cmake)
 41 ~~  - eigen_conversions
 42 ~~  - kdl_conversions
 43 ~~  - perception
 44 ~~  - perception_pcl
 45 ~~  - python_orocos_kdl (plain cmake)
 46 ~~  - qt_dotgraph
 47 ~~  - qt_gui
 48 ~~  - qt_gui_py_common
 49 ~~  - qwt_dependency
 50 ~~  - random_numbers
 51 ~~  - robot
 52 ~~  - robot_model
 53 ~~  - ros
 54 ~~  - ros_base
 55 ~~  - ros_comm
 56 ~~  - ros_core
 57 ~~  - rosbash
 58 ~~  - rosboost_cfg
 59 ~~  - rosbuild
 60 ~~  - python_qt_binding
 61 ~~  - rosclean
 62 ~~  - roscreate
 63 ~~  - rosgraph
 64 ~~  - rosgraph_msgs
 65 ~~  - roslang
 66 ~~  - roslaunch
 67 ~~  - rosmake
 68 ~~  - roslib
 69 ~~  - rosmaster
 70 ~~  - rosmsg
 71 ~~  - rosparam
 72 ~~  - rospy
 73 ~~  - rosservice
 74 ~~  - rosunit
 75 ~~  - angles
 76 ~~  - rosconsole
 77 ~~  - collada_parser
 78 ~~  - pluginlib
 79 ~~  - qt_gui_cpp
 80 ~~  - resource_retriever
 81 ~~  - roslz4
 82 ~~  - rosbag_storage
 83 ~~  - rostest
 84 ~~  - shape_msgs
 85 ~~  - simulators
 86 ~~  - smach
 87 ~~  - smach_msgs
 88 ~~  - smclib
 89 ~~  - std_srvs
 90 ~~  - tf2_msgs
 91 ~~  - tf2
 92 ~~  - tf2_eigen
 93 ~~  - trajectory_msgs
 94 ~~  - control_msgs
 95 ~~  - visualization_msgs
 96 ~~  - geometric_shapes
 97 ~~  - collada_urdf
 98 ~~  - viz
 99 ~~  - xmlrpcpp
100 ~~  - roscpp
101 ~~  - bondcpp
102 ~~  - bondpy
103 ~~  - nodelet
104 ~~  - nodelet_tutorial_math
105 ~~  - pluginlib_tutorials
106 ~~  - rosout
107 ~~  - camera_calibration
108 ~~  - diagnostic_aggregator
109 ~~  - diagnostic_updater
110 ~~  - diagnostic_common_diagnostics
111 ~~  - dynamic_reconfigure
112 ~~  - filters
113 ~~  - joint_state_publisher
114 ~~  - kdl_parser
115 ~~  - message_filters
116 ~~  - rosnode
117 ~~  - rostopic
118 ~~  - roswtf
119 ~~  - self_test
120 ~~  - smach_ros
121 ~~  - tf2_py
122 ~~  - topic_tools
123 ~~  - rosbag
124 ~~  - actionlib
125 ~~  - actionlib_tutorials
126 ~~  - diagnostic_analysis
127 ~~  - nodelet_topic_tools
128 ~~  - sensor_msgs
129 ~~  - camera_calibration_parsers
130 ~~  - gazebo_msgs
131 ~~  - image_transport
132 ~~  - camera_info_manager
133 ~~  - compressed_depth_image_transport
134 ~~  - compressed_image_transport
135 ~~  - image_proc
136 ~~  - image_publisher
137 ~~  - map_msgs
138 ~~  - pcl_msgs
139 ~~  - pcl_conversions
140 ~~  - polled_camera
141 ~~  - stereo_msgs
142 ~~  - image_view
143 ~~  - stereo_image_proc
144 ~~  - tf2_ros
145 ~~  - depth_image_proc
146 ~~  - tf
147 ~~  - gazebo_plugins
148 ~~  - gazebo_ros
149 ~~  - interactive_markers
150 ~~  - laser_geometry
151 ~~  - laser_assembler
152 ~~  - laser_filters
153 ~~  - pcl_ros
154 ~~  - tf2_geometry_msgs
155 ~~  - image_rotate
156 ~~  - tf2_kdl
157 ~~  - robot_state_publisher
158 ~~  - tf_conversions
159 ~~  - theora_image_transport
160 ~~  - turtle_actionlib
161 ~~  - turtle_tf
162 ~~  - turtle_tf2

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看到作者最后分享deb包，我这个ros小白甚至可以猜测出ros包是可以打包成deb的，

搜了一下还真有。

至此，知道了从源码编译安装ros的方式，知道以怎样的顺序阅读ros系统源码了。

甚至可以在16.04上装一个melodic，或者换掉ros中自带的opencv或者pcl的版本。

其实我还是想把ros包用pybind11包装了给python用，以后慢慢研究。

查看全文

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原文地址：https://www.cnblogs.com/shepherd2015/p/11257356.html

源码安装ROS Melodic Python3 指南 （转） + 安装记录

1. 首先安装基本依赖包：

2. 配置rosdep

3. 获取基本ros环境的源码

4. 安装Catkin

5. 开始编译

6. 开始使用ROS

源码安装ROS Melodic Python3 指南（转） + 安装记录