Ubuntu18.04 ROS1Melodic ROS2Dashing 机器人工具集(Arduino/Webots/V-Rep/SLAM等)学习镜像的制作说明 Pinguy
之前，分别发布过ros indigo和ros kinetic学习镜像：https://blog.csdn.net/zhangrelay/article/details/54632130
实验楼ROS镜像也预装了kinetic和ardent：https://www.shiyanlou.com/courses/854
备份和制作镜像的方式之前也写过博客具体说明过，目前针对ubuntu 18.04推荐；两款工具，简单说一下其中一款。
-
LINUX RESPIN：http://www.linuxrespin.org
- Pinguy OS：https://sourceforge.net/projects/pinguy-os/
Ubuntu+ROS最新版学习镜像
镜像介绍链接：https://zhangrelay.blog.csdn.net/article/details/102596056
参考：https://sourceforge.net/projects/pinguy-os/files/ISO_Builder/
下载：https://sourceforge.net/projects/pinguy-os/files/ISO_Builder/pinguybuilder_5.2-1_all.deb/download
执行如下命令：
- sudo dpkg -i pinguybuilder_5.2-1_all.deb
出错？
[sudo] password for relaybot:
Selecting previously unselected package pinguybuilder.
(Reading database ... 422985 files and directories currently installed.)
Preparing to unpack pinguybuilder_5.2-1_all.deb ...
Unpacking pinguybuilder (5.2-1) ...
dpkg: dependency problems prevent configuration of pinguybuilder:
pinguybuilder depends on archdetect-deb; however:
Package archdetect-deb is not installed.
pinguybuilder depends on dialog; however:
Package dialog is not installed.
pinguybuilder depends on casper; however:
Package casper is not installed.
pinguybuilder depends on libdebian-installer4; however:
Package libdebian-installer4 is not installed.
pinguybuilder depends on user-setup; however:
Package user-setup is not installed.
pinguybuilder depends on discover1 | discover; however:
Package discover1 is not installed.
Package discover is not installed.
pinguybuilder depends on aufs-tools | unionfs-fuse; however:
Package aufs-tools is not installed.
Package unionfs-fuse is not installed.
pinguybuilder depends on python-glade2; however:
Package python-glade2 is not installed.
pinguybuilder depends on python-vte; however:
Package python-vte is not installed.
pinguybuilder depends on python-gi-cairo; however:
Package python-gi-cairo is not installed.
pinguybuilder depends on plymouth-x11; however:
Package plymouth-x11 is not installed.
dpkg: error processing package pinguybuilder (--install):
dependency problems - leaving unconfigured
Processing triggers for gnome-menus (3.13.3-11ubuntu1.1) ...
Processing triggers for desktop-file-utils (0.23-1ubuntu3.18.04.2) ...
Processing triggers for mime-support (3.60ubuntu1) ...
Processing triggers for hicolor-icon-theme (0.17-2) ...
Processing triggers for man-db (2.8.3-2ubuntu0.1) ...
Errors were encountered while processing:
pinguybuilder
修复试一下：
- sudo apt-get install -f
ROS:~/Downloads$ sudo apt-get install -f
Reading package lists... Done
Building dependency tree
Reading state information... Done
Correcting dependencies... Done
The following packages were automatically installed and are no longer required:
linux-headers-4.15.0-65 linux-headers-4.15.0-65-generic
linux-headers-5.0.0-29 linux-headers-5.0.0-29-generic
linux-image-4.15.0-65-generic linux-image-5.0.0-29-generic
linux-modules-4.15.0-65-generic linux-modules-5.0.0-29-generic
linux-modules-extra-4.15.0-65-generic linux-modules-extra-5.0.0-29-generic
Use 'sudo apt autoremove' to remove them.
The following additional packages will be installed:
archdetect-deb aufs-tools casper cifs-utils dialog discover discover-data
libdebian-installer4 libdiscover2 libglade2-0 libvte-common libvte9
localechooser-data plymouth-x11 python-gi-cairo python-glade2 python-ldb
python-samba python-tdb python-vte samba-common samba-common-bin user-setup
Suggested packages:
keyutils smbclient winbind gdm python-gtk2-doc python-gpgme heimdal-clients
The following NEW packages will be installed:
archdetect-deb aufs-tools casper cifs-utils dialog discover discover-data
libdebian-installer4 libdiscover2 libglade2-0 libvte-common libvte9
localechooser-data plymouth-x11 python-gi-cairo python-glade2 python-ldb
python-samba python-tdb python-vte samba-common samba-common-bin user-setup
0 upgraded, 23 newly installed, 0 to remove and 0 not upgraded.
1 not fully installed or removed.
Need to get 4,158 kB of archives.
After this operation, 26.8 MB of additional disk space will be used.
Do you want to continue? [Y/n] y
Get:1 http://mirrors.aliyun.com/ubuntu bionic/main amd64 libdebian-installer4 amd64 0.110ubuntu2 [21.6 kB]
Get:2 http://mirrors.aliyun.com/ubuntu bionic-updates/main amd64 archdetect-deb amd64 1.117ubuntu6.18.04.1 [6,192 B]
Get:3 http://mirrors.aliyun.com/ubuntu bionic/universe amd64 dialog amd64 1.3-20171209-1 [217 kB]
Get:4 http://mirrors.aliyun.com/ubuntu bionic/main amd64 user-setup all 1.63ubuntu5 [138 kB]
Get:5 http://mirrors.aliyun.com/ubuntu bionic-updates/main amd64 localechooser-data all 2.71ubuntu3 [6,352 B]
Get:6 http://mirrors.aliyun.com/ubuntu bionic-updates/main amd64 samba-common all 2:4.7.6+dfsg~ubuntu-0ubuntu2.11 [71.3 kB]
Get:7 http://mirrors.aliyun.com/ubuntu bionic/main amd64 cifs-utils amd64 2:6.8-1 [71.5 kB]
Get:8 http://mirrors.aliyun.com/ubuntu bionic/main amd64 casper amd64 1.394 [45.2 kB]
Get:9 http://mirrors.aliyun.com/ubuntu bionic/universe amd64 discover-data all 2.2013.01.11 [480 kB]
Get:10 http://mirrors.aliyun.com/ubuntu bionic/universe amd64 libdiscover2 amd64 2.1.2-8 [75.7 kB]
Get:11 http://mirrors.aliyun.com/ubuntu bionic/universe amd64 discover amd64 2.1.2-8 [24.1 kB]
Get:12 http://mirrors.aliyun.com/ubuntu bionic/universe amd64 aufs-tools amd64 1:4.9+20170918-1ubuntu1 [104 kB]
Get:13 http://mirrors.aliyun.com/ubuntu bionic/universe amd64 libglade2-0 amd64 1:2.6.4-2 [44.6 kB]
Get:14 http://mirrors.aliyun.com/ubuntu bionic/universe amd64 python-glade2 amd64 2.24.0-5.1ubuntu2 [8,872 B]
Get:15 http://mirrors.aliyun.com/ubuntu bionic/universe amd64 libvte-common all 1:0.28.2-5ubuntu4 [65.0 kB]
Get:16 http://mirrors.aliyun.com/ubuntu bionic/universe amd64 libvte9 amd64 1:0.28.2-5ubuntu4 [263 kB]
Get:17 http://mirrors.aliyun.com/ubuntu bionic/universe amd64 python-vte amd64 1:0.28.2-5ubuntu4 [17.1 kB]
Get:18 http://mirrors.aliyun.com/ubuntu bionic-updates/universe amd64 python-gi-cairo amd64 3.26.1-2ubuntu1 [6,632 B]
Get:19 http://mirrors.aliyun.com/ubuntu bionic-updates/universe amd64 plymouth-x11 amd64 0.9.3-1ubuntu7.18.04.2 [7,980 B]
Get:20 http://mirrors.aliyun.com/ubuntu bionic-updates/main amd64 python-ldb amd64 2:1.2.3-1ubuntu0.1 [30.9 kB]
Get:21 http://mirrors.aliyun.com/ubuntu bionic/main amd64 python-tdb amd64 1.3.15-2 [11.1 kB]
Get:22 http://mirrors.aliyun.com/ubuntu bionic-updates/main amd64 python-samba amd64 2:4.7.6+dfsg~ubuntu-0ubuntu2.11 [1,923 kB]
Get:23 http://mirrors.aliyun.com/ubuntu bionic-updates/main amd64 samba-common-bin amd64 2:4.7.6+dfsg~ubuntu-0ubuntu2.11 [520 kB]
Fetched 4,158 kB in 4s (1,169 kB/s)
Preconfiguring packages ...
Selecting previously unselected package libdebian-installer4:amd64.
(Reading database ... 423324 files and directories currently installed.)
Preparing to unpack .../00-libdebian-installer4_0.110ubuntu2_amd64.deb ...
Unpacking libdebian-installer4:amd64 (0.110ubuntu2) ...
Selecting previously unselected package archdetect-deb.
Preparing to unpack .../01-archdetect-deb_1.117ubuntu6.18.04.1_amd64.deb ...
Unpacking archdetect-deb (1.117ubuntu6.18.04.1) ...
Selecting previously unselected package dialog.
Preparing to unpack .../02-dialog_1.3-20171209-1_amd64.deb ...
Unpacking dialog (1.3-20171209-1) ...
Selecting previously unselected package user-setup.
Preparing to unpack .../03-user-setup_1.63ubuntu5_all.deb ...
Unpacking user-setup (1.63ubuntu5) ...
Selecting previously unselected package localechooser-data.
Preparing to unpack .../04-localechooser-data_2.71ubuntu3_all.deb ...
Unpacking localechooser-data (2.71ubuntu3) ...
Selecting previously unselected package samba-common.
Preparing to unpack .../05-samba-common_2%3a4.7.6+dfsg~ubuntu-0ubuntu2.11_all.deb ...
Unpacking samba-common (2:4.7.6+dfsg~ubuntu-0ubuntu2.11) ...
Selecting previously unselected package cifs-utils.
Preparing to unpack .../06-cifs-utils_2%3a6.8-1_amd64.deb ...
Unpacking cifs-utils (2:6.8-1) ...
Selecting previously unselected package casper.
Preparing to unpack .../07-casper_1.394_amd64.deb ...
Unpacking casper (1.394) ...
Selecting previously unselected package discover-data.
Preparing to unpack .../08-discover-data_2.2013.01.11_all.deb ...
Unpacking discover-data (2.2013.01.11) ...
Selecting previously unselected package libdiscover2.
Preparing to unpack .../09-libdiscover2_2.1.2-8_amd64.deb ...
Unpacking libdiscover2 (2.1.2-8) ...
Selecting previously unselected package discover.
Preparing to unpack .../10-discover_2.1.2-8_amd64.deb ...
Unpacking discover (2.1.2-8) ...
Selecting previously unselected package aufs-tools.
Preparing to unpack .../11-aufs-tools_1%3a4.9+20170918-1ubuntu1_amd64.deb ...
Unpacking aufs-tools (1:4.9+20170918-1ubuntu1) ...
Selecting previously unselected package libglade2-0:amd64.
Preparing to unpack .../12-libglade2-0_1%3a2.6.4-2_amd64.deb ...
Unpacking libglade2-0:amd64 (1:2.6.4-2) ...
Selecting previously unselected package python-glade2.
Preparing to unpack .../13-python-glade2_2.24.0-5.1ubuntu2_amd64.deb ...
Unpacking python-glade2 (2.24.0-5.1ubuntu2) ...
Selecting previously unselected package libvte-common.
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Unpacking libvte-common (1:0.28.2-5ubuntu4) ...
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Preparing to unpack .../15-libvte9_1%3a0.28.2-5ubuntu4_amd64.deb ...
Unpacking libvte9 (1:0.28.2-5ubuntu4) ...
Selecting previously unselected package python-vte.
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Unpacking python-vte (1:0.28.2-5ubuntu4) ...
Selecting previously unselected package python-gi-cairo.
Preparing to unpack .../17-python-gi-cairo_3.26.1-2ubuntu1_amd64.deb ...
Unpacking python-gi-cairo (3.26.1-2ubuntu1) ...
Selecting previously unselected package plymouth-x11.
Preparing to unpack .../18-plymouth-x11_0.9.3-1ubuntu7.18.04.2_amd64.deb ...
Unpacking plymouth-x11 (0.9.3-1ubuntu7.18.04.2) ...
Selecting previously unselected package python-ldb:amd64.
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Unpacking python-ldb:amd64 (2:1.2.3-1ubuntu0.1) ...
Selecting previously unselected package python-tdb.
Preparing to unpack .../20-python-tdb_1.3.15-2_amd64.deb ...
Unpacking python-tdb (1.3.15-2) ...
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Preparing to unpack .../21-python-samba_2%3a4.7.6+dfsg~ubuntu-0ubuntu2.11_amd64.deb ...
Unpacking python-samba (2:4.7.6+dfsg~ubuntu-0ubuntu2.11) ...
Selecting previously unselected package samba-common-bin.
Preparing to unpack .../22-samba-common-bin_2%3a4.7.6+dfsg~ubuntu-0ubuntu2.11_amd64.deb ...
Unpacking samba-common-bin (2:4.7.6+dfsg~ubuntu-0ubuntu2.11) ...
Setting up python-gi-cairo (3.26.1-2ubuntu1) ...
Setting up aufs-tools (1:4.9+20170918-1ubuntu1) ...
Setting up plymouth-x11 (0.9.3-1ubuntu7.18.04.2) ...
update-initramfs: deferring update (trigger activated)
Setting up dialog (1.3-20171209-1) ...
Setting up python-tdb (1.3.15-2) ...
Setting up libdebian-installer4:amd64 (0.110ubuntu2) ...
Setting up archdetect-deb (1.117ubuntu6.18.04.1) ...
Setting up discover-data (2.2013.01.11) ...
Setting up samba-common (2:4.7.6+dfsg~ubuntu-0ubuntu2.11) ...
Creating config file /etc/samba/smb.conf with new version
Setting up libglade2-0:amd64 (1:2.6.4-2) ...
Setting up localechooser-data (2.71ubuntu3) ...
Setting up user-setup (1.63ubuntu5) ...
Setting up libvte-common (1:0.28.2-5ubuntu4) ...
Setting up libvte9 (1:0.28.2-5ubuntu4) ...
Setting up python-ldb:amd64 (2:1.2.3-1ubuntu0.1) ...
Setting up libdiscover2 (2.1.2-8) ...
Setting up cifs-utils (2:6.8-1) ...
update-alternatives: using /usr/lib/x86_64-linux-gnu/cifs-utils/idmapwb.so to provide /etc/cifs-utils/idmap-plugin (idmap-plugin) in auto mode
Setting up python-samba (2:4.7.6+dfsg~ubuntu-0ubuntu2.11) ...
Setting up casper (1.394) ...
update-initramfs: deferring update (trigger activated)
Created symlink /etc/systemd/system/final.target.wants/casper.service → /lib/systemd/system/casper.service.
Setting up python-vte (1:0.28.2-5ubuntu4) ...
Setting up samba-common-bin (2:4.7.6+dfsg~ubuntu-0ubuntu2.11) ...
Setting up discover (2.1.2-8) ...
Processing triggers for sgml-base (1.29) ...
Processing triggers for libc-bin (2.27-3ubuntu1) ...
Setting up python-glade2 (2.24.0-5.1ubuntu2) ...
Processing triggers for man-db (2.8.3-2ubuntu0.1) ...
Setting up pinguybuilder (5.2-1) ...
Processing triggers for initramfs-tools (0.130ubuntu3.8) ...
update-initramfs: Generating /boot/initrd.img-5.0.0-32-generic
I: The initramfs will attempt to resume from /dev/sda3
I: (UUID=49eb4fb8-9453-4671-982f-6527829bb2ab)
I: Set the RESUME variable to override this.
再试一次，看看是否安装成功？
ROS:~/Downloads$ sudo dpkg -i pinguybuilder_5.2-1_all.deb
(Reading database ... 424169 files and directories currently installed.)
Preparing to unpack pinguybuilder_5.2-1_all.deb ...
Unpacking pinguybuilder (5.2-1) over (5.2-1) ...
Setting up pinguybuilder (5.2-1) ...
Processing triggers for gnome-menus (3.13.3-11ubuntu1.1) ...
Processing triggers for desktop-file-utils (0.23-1ubuntu3.18.04.2) ...
Processing triggers for mime-support (3.60ubuntu1) ...
Processing triggers for hicolor-icon-theme (0.17-2) ...
Processing triggers for man-db (2.8.3-2ubuntu0.1) ...
ROS:~/Downloads$
这次没有问题！启动程序需要用sudo！
Pinguy Builder
图像化界面，愉快的制作自定义的ROS版本Ubuntu镜像吧。
中文翻译参考：Ubuntu启动镜像制作资料分享（sourceforge或github）
The script creates a livecd of the installed system and works with *buntu. You can either make a distributable livecd or a backup of your system.
NOTABLE CHANGES:
- * Single package for Script and GUI.
- * EFI support including EFI partition on ISO.
- * Populate pool folder with grub-efi for offline installing.
- * Update grub entry with the named used for the CD label.
- * Uses XZ to compress the filesystem.squashfs for smaller ISO size.
- * Added MDM support (Linux Mint display manager).
- * Added GDM support (Gnome Shell display manager).
Version 3.* works with *buntu systems 14.04 (May also work with 14.10) Version 15.10 works with *buntu systems 15.04 & 15.10
Version 4.* works with *buntu systems 16.04 & 16.10
Version 5.* works with *buntu systems 18.04 & Mint 19
Version 5.2-1 (menu-based) works with *buntu systems 19.04, has No GUI. Must purge old version. For Mint 19 you may have to click "Skip" a few times to get the installer to move on.
FAQ:
Q: Can't open the app.
A: You may need to use GDebi to install the .deb GDebi isn't installed by default in *buntu systems. So you will need to install GDebi before installing Pinguy Builder. You can also install by CD'ing/'Open in Terminal' the folder Pinguy Builder is downloaded too and running:
- sudo dpkg -i *.deb
- sudo apt-get install -f
Q: App not showing up in the menu.
A: Not sure why this happens. Have only seen this issue with Ubuntu Budgie. To open run:
- PinguyBuilder-gtk
Q: Keeps failing with the message: "The filesystem.squashfs filesystem is missing. Either there was a problem creating the compressed filesystem or you are trying to run sudo PinguyBuilder dist iso before sudo PinguyBuilder dist cdfs"
A: Make sure you got plenty of free space on your /home, at least 10GB. You could also move the working directory to a different ext4 drive that has more free space.
Q: How do I run this in the terminal without using the GUI?
A: sudo PinguyBuilder (Command string is case sensitive. Must use capital 'P' & 'B') Example: sudo PinguyBuilder dist
Q: Can I make an ISO larger than 4GB?
A: Short answer is no. Long answer: ISO 9660 has a maximum file size limit of just over 4.2 GB (more precisely, one byte less than 4 GiB). So it is impossible to create a squashfs larger than that. The other limiting factor is USB flash drives, they are usually formatted fat32(vfat) which also has a file size limit of 4 GiB. Technically I could split large squashfs into 4 GiB chunks, but Ubiquity (the Ubuntu installer) can only handle having the entire filesystem on a single squashfs file. So even doing that wouldn't work. If Ubiquity gets the ability to install split filesystem.squashfs, then it may be possible in the future to have ISO's larger then 4.2 GB. Until then, it isn't.
Source: README, updated 2019-08-15