ROS2入门教程-在ubuntu16.04源码安装ros2的crystal版本

ROS2入门教程-在ubuntu16.04安装ros2的crystal版本

说明：

• 介绍如何在ubuntu16.04源码安装ros2的crystal版本

步骤：

• 增加utf8支持

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

• 增加ros2仓库
• 这一步需要能正常访问raw.githubusercontent.com

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 -

• 增加源列表

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'

• 安装相关工具

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

• 下载ros2源码

mkdir -p ~/ros2_crystal/src
cd ~/ros2_crystal
wget https://raw.githubusercontent.com/ros2/ros2/crystal/ros2.repos
vcs import src < ros2.repos

• 安装相关依赖

sudo rosdep init
rosdep update
# [Ubuntu 16.04]
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"
python3 -m pip install -U lark-parser

• 编译ros2

cd ~/ros2_crystal/
# On Ubuntu Linux Xenial Xerus 16.04
colcon build --symlink-install --packages-ignore qt_gui_cpp rqt_gui_cpp

• 加载ros2环境

source ~/ros2_crystal/install/setup.bash

• 安装自动补全

sudo apt install python3-argcomplete

测试：

• 启动话题发布

. ~/ros2_crystal/install/local_setup.bash
ros2 run demo_nodes_cpp talker

• 启动话题接受

. ~/ros2_crystal/install/local_setup.bash
ros2 run demo_nodes_py listener

• 成功则显示如下：

参考：

• https://index.ros.org/doc/ros2/Installation/Crystal/Linux-Development-Setup/