ROS2入门教程-在ubuntu18.04下源码安装ROS2 Dashing

ROS2入门教程-在ubuntu18.04下源码安装ROS2 Dashing

说明

• 介绍如何Linux系统上源码安装ROS2

• 测试环境：Ubuntu 18.04 LTS + ROS2 Dashing

安装步骤

• 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

• 设置源：

$ sudo apt update && sudo apt install curl gnupg2 lsb-release
$ curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | 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'

• 安装相关的工具包和依赖

$ 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

# install some pip packages needed for testing
$ 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

# install Fast-RTPS dependencies
$ sudo apt install --no-install-recommends -y \
  libasio-dev \
  libtinyxml2-dev
    

• 创建工作空间并进行下载源码

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

• 用rosdep安装依赖项

$ sudo rosdep init
$ rosdep update
$ rosdep install --from-paths src --ignore-src --rosdistro dashing -y --skip-keys "console_bridge fastcdr fastrtps libopensplice67 libopensplice69 rti-connext-dds-5.3.1 urdfdom_headers"

• 编译所有包

$ cd ~/ros2_ws/
$ colcon build --symlink-install

测试使用

• 运行talker-listener例子测试是否成功安装

• 新终端，执行以下命令：

  $ . ~/ros2_ws/install/local_setup.bash
  $ ros2 run demo_nodes_cpp talker

• 新终端，执行以下命令：

  $ . ~/ros2_ws/install/local_setup.bash
  $ ros2 run demo_nodes_cpp listener

• 测试成功截图

参考资料

• https://index.ros.org/doc/ros2/Installation/Dashing/Linux-Development-Setup/#building-ros-2-on-linux