Linux从源代码安装ROS,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