ros1 windows安装

1. 打开 适用于 VS 2017 的 x64 本机工具命令提示
2. 运行

@"%SystemRoot%\System32\WindowsPowerShell\v1.0\powershell.exe" -NoProfile -InputFormat None -ExecutionPolicy Bypass -Command "iex ((New-Object System.Net.WebClient).DownloadString('https://chocolatey.org/install.ps1'))" && SET "PATH=%PATH%;%ALLUSERSPROFILE%\chocolatey\bin"

3. 安装

PowerShell 
set-ExecutionPolicy RemoteSigned

 choco install git -y
 choco source add -n=ros-win -s="https://roswin.azurewebsites.net/api/v2" --priority=1
 choco upgrade ros-melodic-desktop_full  --execution-timeout=0
 choco install curl

5. 启动

cd C:\opt\ros\melodic\x64
setup.bat

6. 还需安装

pip install  pyyaml
pip install  PyCrypto
pip install  PyCryptodome
把目录crypto改成Crypto
pip install  gnupg
pip install  rospkg
pip install defusedxml
pip install rosdep rosinstall_generator wstool rosinstall

6. 还缺少一些dll

rosdep init
rosdep update
choco install urdfdom
choco install urdfdom_headers
choco install gflags

choco install log4cxx
choco install boost
choco search rosdep

7. fromsource

pip install -U rosdep rosinstall_generator wstool rosinstall
curl --output requirements.txt -L https://raw.githubusercontent.com/ms-iot/rosdistro-db/init_windows/rosdistro_cache/catkin-requirements.txt
pip install -U --no-deps --force-reinstall -r requirements.txt
python -m pip install -U pip setuptools

rosdep init
curl --output 10-ms-iot.list -L https://raw.githubusercontent.com/ms-iot/rosdistro-db/init_windows/rosdep/sources.list.d/10-ms-iot.list
copy 10-ms-iot.list c:\etc\ros\rosdep\sources.list.d
rosdep update
choco source add -n=ros-win -s="https://roswin.azurewebsites.net/api/v2" --priority=1
choco source disable -n=chocolatey
mkdir c:\ros_catkin_ws
cd c:\ros_catkin_ws
set ROSDISTRO_INDEX_URL=https://raw.githubusercontent.com/ms-iot/rosdistro-db/init_windows/index.yaml
rosinstall_generator ros_comm --rosdistro melodic --deps --upstream-development > melodic-ros_comm.rosinstall
wstool init src melodic-ros_comm.rosinstall
rosdep install --from-paths src --ignore-src --rosdistro melodic -r -y

退出PowerShell 然后

set PATH=c:\opt\rosdeps\x64\bin;%PATH%

copy ".\src\catkin\bin\catkin_make_isolated" ".\src\catkin\bin\catkin_make_isolated.py"
python .\src\catkin\bin\catkin_make_isolated.py --use-nmake --install ^
--install-space c:/opt/ros/melodic/x64 ^
-DCMAKE_BUILD_TYPE=Release ^
-DCMAKE_PREFIX_PATH=c:/opt/ros/melodic/x64;c:/opt/rosdeps/x64

最后一条命令可以加上--pkg roscpp编译指定包。
除了基本的库，src还要下载以下的库
common_msgs
geometry2
actionlib
tf2_msgs\msg\TF2Error.msg NO_ERROR改一下名，以免和宏冲突，tf2用到的地方也要随之改下。
tf2_eigen\CMakeLists.txt 及tf2_sensor_msgs\CMakeLists.txt 需要设置一下 set(EIGEN3_INCLUDE_DIRS "D:/WorkBench/eigen-3")
tf2_py\CMakeLists.txt 把${CATKIN_PACKAGE_PYTHON_DESTINATION}/_tf2.pyd改成bin/_tf2.pyd
修改build_isolated\各个子目录下的build.make，替换成boost的静态库。
8. 其它

遇到的问题是有时候网络不通，过会又能连上。奇怪了。

下载empy ，然后python setup.py install

PyCrypto需要安装VCForPython27