Ubuntu ROS2.0安装使用教程
一、二进制安装
安装依赖
- Install runtime dependencies and wget:
sudo apt-get update && sudo apt-get install -q -y \
libopencv-core2.4v5 \
libhighgui2.4 \
libopencv-imgproc2.4v5 \
libasio-dev \
libeigen3-dev \
libtinyxml-dev \
libtinyxml2-dev \
libcurl4-openssl-dev \
libqt5core5a \
libqt5gui5 \
libqt5opengl5 \
libqt5widgets5 \
libxaw7-dev \
libgles2-mesa-dev \
libglu1-mesa-dev \
python3-pip \
python3-setuptools \
python3-yaml \
wgetInstall argcomplete from pip for argument completion. Note that the version available through apt-get in Ubuntu 16.04 (Xenial) will not work due to a bug in argcomplete:
sudo pip3 install argcomplete下载ROS 2
Go the releases page: https://github.com/ros2/ros2/releases
- Unpack it:
mkdir -p ~/ros2_install
cd ~/ros2_install
tar xf ~/Downloads/ros2-package-linux-x86_64.tar.bz2运行实例
source ~/ros2_install/ros2-linux/setup.bash
#In one terminal
ros2 run demo_nodes_cpp talker
#In another terminal
ros2 run demo_nodes_cpp listener你将看到发布并收听到了hello word,说明安装成功
ROS 1 bridge
如果你已经安装了ROS1，先source ros1的安装文件，假设它在/opt/ros/kinetic/setup.bash.然后开启roscore
source /opt/ros/kinetic/setup.bash
roscore在另一个终端开启桥接
source /opt/ros/kinetic/setup.bash
source ~/ros2_install/ros2-linux/setup.bash
ros2 run ros1_bridge dynamic_bridge二、源码安装
系统要求
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GCC，G ++ CMake，Python 3 EmPy包（custom packages which don’t collide）和setuptools：
sudo apt-get update
sudo apt-get install git wget
sudo apt-get install build-essential cppcheck cmake libopencv-dev python-empy python3-dev python3-empy python3-nose python3-pip python3-pyparsing python3-setuptools python3-vcstool python3-yaml libtinyxml-dev libeigen3-dev
# dependencies for testing
sudo apt-get install clang-format pydocstyle pyflakes python3-coverage python3-mock python3-pep8 uncrustify
# Install argcomplete for command-line tab completion from the ROS2 tools.
# Install from pip rather than from apt-get because of a bug in the Ubuntu 16.04 version of argcomplete:
sudo pip3 install argcomplete
# additional testing dependencies from pip (because not available on ubuntu 16.04)
sudo pip3 install flake8 flake8-blind-except flake8-builtins flake8-class-newline flake8-comprehensions flake8-deprecated flake8-docstrings flake8-import-order flake8-quotes pytest pytest-cov pytest-runner
# dependencies for FastRTPS
sudo apt-get install libasio-dev libtinyxml2-dev创建工作区并克隆all repos
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws
wget https://raw.githubusercontent.com/ros2/ros2/release-latest/ros2.repos
vcs-import src < ros2.repos安装一个或多个DDS实现
PrismTech OpenSplice Debian Packages built by OSRF
sudo apt update && sudo apt install curl
curl http://repo.ros2.org/repos.key | sudo apt-key add -
sudo sh -c 'echo "deb http://repo.ros2.org/ubuntu/main xenial main" > /etc/apt/sources.list.d/ros2-latest.list'
sudo apt-get update
sudo apt-get install libopensplice67 # from repo.ros2.org使用ament_tools的引导脚本构建原型
build the ROS 1 bridge
src/ament/ament_tools/scripts/ament.py build --build-tests --symlink-install --skip-packages ros1_bridge然后设置ros1的环境变量ros2的环境变量
source /opt/ros/kinetic/setup.bash
source ~/ros2_ws/install/local_setup.bash然后建立一个 ROS 1 桥:
src/ament/ament_tools/scripts/ament.py build --build-tests --symlink-install --only ros1_bridge --force-cmake-configureExample 1: run the bridge and the example talker and listener
# Shell A:
source /opt/ros/kinetic/setup.bash
roscore
# Shell B:
source /opt/ros/kinetic/setup.bash
source ~/ros2_ws/install/setup.bash
export ROS_MASTER_URI=http://localhost:11311
ros2 run ros1_bridge dynamic_bridge
# Shell C:
source /opt/ros/kinetic/setup.bash
rosrun rospy_tutorials talker
# Shell D:
source ~/ros2_ws/install/setup.bash
ros2 run demo_nodes_cpp listener当查看shell B中的输出时，将会有一行指出已经创建了该主题的桥梁：
该屏幕截图显示了所有的shell窗口及其预期内容：
