ROS2入门教程-linux下源码安装

ROS2入门教程-linux下安装ROS2（源码安装）

说明：

• 介绍如何Linux系统上源码安装ROS2

系统要求

• 建议使用Ubuntu 16.04 LTS （64位）

• 确保有一个支持UTF-8的locale设置。locale设置例子如下：

sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

创建开发环境

• 添加仓库：

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

sudo apt-key adv --keyserver ha.pool.sks-keyservers.net --recv-keys 421C365BD9FF1F717815A3895523BAEEB01FA116

• 安装相关的工具包

sudo apt update && sudo apt install -y 
  build-essential 
  git 
  python3-colcon-common-extensions 
  python3-pip 
  python-rosdep 
  python3-vcstool 
  wget
# install some pip packages needed for testing
sudo -H 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
# [Ubuntu 16.04] install extra packages not available or recent enough on Xenial
python3 -m pip install -U 
  pytest 
  pytest-cov 
  pytest-runner 
  setuptools
# install Fast-RTPS dependencies
sudo apt install --no-install-recommends -y 
  libasio-dev 
  libtinyxml2-dev

下载源码

• 创建工作空间并进行下载

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws
wget https://raw.githubusercontent.com/ros2/ros2/release-latest/ros2.repos
vcs-import src < ros2.repos

Note: if you want to get all of the latest bug fixes then you can try the "tip" of development by replacing release-latest in the URL above with master. The release-latest is preferred by default because it goes through more rigorous testing on release than changes to master do. See also Maintaining a Source Checkout.

用rosdep安装依赖项

sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro bouncy -y --skip-keys "console_bridge fastcdr fastrtps libopensplice67 rti-connext-dds-5.3.1 urdfdom_headers"

使用ament工具进行编译

• 编译所有包

src/ament/ament_tools/scripts/ament.py build --build-tests --symlink-install

测试

• 运行talker-listener例子测试是否成功安装

• 打开.bashrc文件在末尾添加ROS2的环境变量

source ~/<ros2包的安装路径>/setup.bash

• 新终端，执行以下命令：

ros2 run demo_nodes_cpp talker

• 新终端，执行以下命令：

ros2 run demo_nodes_cpp listener

• 测试成功截图

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参考资料

• https://github.com/ros2/ros2/wiki/Linux-Install-Debians#setup-sources

• https://github.com/ros2/ros2/wiki/Ament-Tutorial

• https://github.com/ros2/ros2/wiki/Linux-Development-Setup

• http://blog.csdn.net/xmy306538517/article/details/78770646