【编译失败】MSYS2 ucrt64 win编译安装ros2 humble

参考资料

• msys2安装与配置: 在windows上使用linux工具链g++和包管理工具pacman C++开发
• Manjaro Linux安装ROS2 humble机器人系统：从开始到安装完成
• ROS2/humble doc: building-from-source
• ROS2/humble doc: Windows-Development-Setup
• https://aur.archlinux.org/packages/ros2-humble

为什么要这样安装，而不是直接使用官方编译好的二进制包

官方依赖于VS2019，这个东西太大了，不想用，想和linux有一样的流程（比如ros2 c++项目的编译），就只好借助msys2了

依赖的安装

• ros官方文档要 Python 3.8.3，我这里直接用msys2的最新Python 3.10了，可能导致pip安装包时出错，但下文有办法解决

• opencv、qt6、qt5兼容层：通过pacman安装

• 其他依赖 asio cunit eigen tinyxml-usestl tinyxml2 bullet
  安装过程

  pacman -S mingw-w64-ucrt-x86_64-asio mingw-w64-ucrt-x86_64-bullet mingw-w64-ucrt-x86_64-cunit mingw-w64-ucrt-x86_64-eigen3 mingw-w64-ucrt-x86_64-tinyxml2
  
  tinyxml-usestl.2.6.2 没有安装
  
  

• 安装Python依赖

  • ros官方让这样安装这些包，但py3.10可能遇到错误，如果遇到错误，就用pacman -Ss 搜索该包的关键词，找到编译好的版本直接安装。这是官方的安装命令python -m pip install -U catkin_pkg cryptography empy importlib-metadata lark\==1.1.1 lxml matplotlib netifaces numpy opencv-python PyQt5 pillow psutil pycairo pydot pyparsing\==2.4.7 pyyaml rosdistro，我真正的安装过程如下：

    `pacman -S mingw-w64-ucrt-x86_64-python-cryptography`  # cryptography 直接用pip安装失败
    `pacman -S mingw-w64-ucrt-x86_64-python-lxml`
    `pacman -S mingw-w64-ucrt-x86_64-python-matplotlib`    # numpy,pillow,six什么的都会安装
    `pacman -S mingw-w64-ucrt-x86_64-python-netifaces`
    `pacman -S mingw-w64-ucrt-x86_64-python-opencv`
    `pacman -S mingw-w64-ucrt-x86_64-python-PyQt5 mingw-w64-ucrt-x86_64-pyqt5-sip # mingw-w64-ucrt-x86_64-python-sip4`
    `pacman -S mingw-w64-ucrt-x86_64-python-psutil mingw-w64-ucrt-x86_64-python-cairo mingw-w64-ucrt-x86_64-python-dotenv mingw-w64-ucrt-x86_64-python-yaml`
    
    `python -m pip install -U catkin_pkg empy importlib-metadata lark==1.1.1  rosdistro`
    

• 安装qt5: pacman -S mingw-w64-ucrt-x86_64-qt5-base

• 安装Graphviz：pacman -S mingw-w64-ucrt-x86_64-graphviz

• 安装额外依赖（ros源码编译所需的）

  • pacman -S mingw-w64-ucrt-x86_64-cppcheck

  • python: 官方的安装命令pip install -U colcon-common-extensions coverage flake8 flake8-blind-except flake8-builtins flake8-class-newline flake8-comprehensions flake8-deprecated flake8-docstrings flake8-import-order flake8-quotes mock mypy==0.931 pep8 pydocstyle pytest pytest-mock vcstool，我实际的安装过程：

    pacman -S mingw-w64-ucrt-x86_64-python-pywin32
    pip install -U colcon-common-extensions  flake8 flake8-blind-except flake8-builtins flake8-class-newline flake8-comprehensions flake8-deprecated flake8-docstrings flake8-import-order flake8-quotes mock mypy==0.931 pep8 pydocstyle pytest pytest-mock vcstool
    

【未成功】下载、编译ROS2 humble代码

• 下载

  • mkdir -p /e/ros2_humble/src && cd /e/ros2_humble
  • clone github仓库
    • 方法一（如果你的网络ok）：vcs import --input https://raw.githubusercontent.com/ros2/ros2/humble/ros2.repos src
    • 方法二（使用镜像）

      • 把ros2.repos文本文件保存到本地：wget https://raw.githubusercontent.com/ros2/ros2/humble/ros2.repos

      • 把里面每个github.com修改为镜像地址，然后写python脚本手动clone

        import os
        from time import sleep
        
        def main():
            repos = "./ros2.repos"      # 要clone的仓库信息文件在这里
            
            with open(repos, 'r') as f:
                os.chdir("./src")       # 要clone到这里
                already_repos = os.listdir("./")
                print(already_repos)
        
                lines = f.readlines()
                for i, line in enumerate(lines):
                    if "version: " in line:
                        version = line.split("version: ")[1].strip()
                        
                        line_url = lines[i-1]
                        url = line_url.split("url: ")[1].strip()
                        url = git_mirror(url)
        
                        line_name = lines[i-3]
                        name = line_name.rsplit("/", 1)[1].replace(":", "").strip()
                        if name in already_repos:  # 跳过已clone的仓库 so that 出错了可以重新运行开始
                            print(name)
                            continue
        
                        print(f"try to clone - line: {i-3+1}, name: {name}")
                        ret = os.system(f"git clone {url} -b {version}")
                        if (ret != 0):  # 出错了停止
                            exit(ret)
        
                        sleep(5)       # 等待，防止下一个clone出错
                        print("finish clone\n")
        
        # 尝试不同的镜像
        def git_mirror(url):
            return "https://ghproxy.com/" + url
            # return "https://github.moeyy.xyz/" + url
            # return url.replace("github", "kgithub")
            # return url.replace("github.com", "hub.fgit.ml")
            # return url.replace("github.com", "hub.fgit.gq")
            # return url.replace("github.com", "gitclone.com/github")
        
        if __name__ == "__main__":
            main()
        

• 编译: colcon build --merge-install, 运行此命令时你应位于src的同级目录（不是在src里面）

  • 没有编译成功。。。。。。colcon编译ros组件的时候，很多还是默认平台windows，就需要vs2019环境。强行设置为linux, unix会报错缺少函数定义。

测试运行

https://docs.ros.org/en/humble/Installation/Alternatives/Windows-Development-Setup.html#environment-setup