ROS2-IRON Ubuntu-22.0 源码下载失败解决方法 vcs import --input
ROS2
- 一.ROS2 IRON环境搭建
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- 1.设置系统字符集为UTF-8
- 2.将RO2 apt 库添加到系统中
- 3.添加ROS2 GPG key
- 4.添加ROS 2 的软件源
- 安装开发工具
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- 二.下载ROS2sh源代码
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- 编译
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一.ROS2 IRON环境搭建
虚拟机系统：Ubuntu22.04
虚拟机：VMware-player-full-16.2.5-20904516 （这个是非商用就可以免费使用的哦）
电脑系统：WIN10
以下操作都是在虚拟机下的Ubuntu22.04环境中。
详细步骤参考ROS2官网：
1.设置系统字符集为UTF-8
locale # check for UTF-8
sudo apt update && sudo apt install locales
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
locale # verify settings
2.将RO2 apt 库添加到系统中
sudo apt install software-properties-common
sudo add-apt-repository universe
3.添加ROS2 GPG key
sudo apt update && sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
4.添加ROS 2 的软件源
这个命令的作用是将 ROS 2 的软件源添加到/etc/apt/sources.list.d/ros2.list 文件中。这样系统就可以从这个源中获取 ROS 2 相关的软件包。
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
安装开发工具
sudo apt update && sudo apt install -y \
python3-flake8-docstrings \
python3-pip \
python3-pytest-cov \
python3-flake8-blind-except \
python3-flake8-builtins \
python3-flake8-class-newline \
python3-flake8-comprehensions \
python3-flake8-deprecated \
python3-flake8-import-order \
python3-flake8-quotes \
python3-pytest-repeat \
python3-pytest-rerunfailures \
ros-dev-tools
二.下载ROS2sh源代码
创建ros2_iron/src目录，并下载相关源码。
mkdir -p ~/ros2_iron/src
cd ~/ros2_iron
vcs import --input https://raw.githubusercontent.com/ros2/ros2/iron/ros2.repos src
这一步我尝试了很多方法，各种换源。但是因为电脑不能的原因，一直下失败。我的解决方法是在浏览器中访问
https://raw.githubusercontent.com/ros2/ros2/iron/ros2.repos
可以看到以下信息：
repositories:
ament/ament_cmake:
type: git
url: https://github.com/ament/ament_cmake.git
version: iron
ament/ament_index:
type: git
url: https://github.com/ament/ament_index.git
version: iron
ament/ament_lint:
type: git
url: https://github.com/ament/ament_lint.git
version: iron
ament/ament_package:
type: git
url: https://github.com/ament/ament_package.git
version: iron
ament/google_benchmark_vendor:
type: git
url: https://github.com/ament/google_benchmark_vendor.git
version: iron
ament/googletest:
type: git
url: https://github.com/ament/googletest.git
version: iron
ament/uncrustify_vendor:
type: git
url: https://github.com/ament/uncrustify_vendor.git
version: iron
eProsima/Fast-CDR:
type: git
url: https://github.com/eProsima/Fast-CDR.git
version: v1.0.27
eProsima/Fast-DDS:
type: git
url: https://github.com/eProsima/Fast-DDS.git
version: 2.10.x
eProsima/foonathan_memory_vendor:
type: git
url: https://github.com/eProsima/foonathan_memory_vendor.git
version: master
eclipse-cyclonedds/cyclonedds:
type: git
url: https://github.com/eclipse-cyclonedds/cyclonedds.git
version: releases/0.10.x
eclipse-iceoryx/iceoryx:
type: git
url: https://github.com/eclipse-iceoryx/iceoryx.git
version: release_2.0
gazebo-release/gz_cmake2_vendor:
type: git
url: https://github.com/gazebo-release/gz_cmake2_vendor.git
version: iron
gazebo-release/gz_math6_vendor:
type: git
url: https://github.com/gazebo-release/gz_math6_vendor.git
version: iron
osrf/osrf_pycommon:
type: git
url: https://github.com/osrf/osrf_pycommon.git
version: master
osrf/osrf_testing_tools_cpp:
type: git
url: https://github.com/osrf/osrf_testing_tools_cpp.git
version: iron
ros-perception/image_common:
type: git
url: https://github.com/ros-perception/image_common.git
version: iron
ros-perception/laser_geometry:
type: git
url: https://github.com/ros-perception/laser_geometry.git
version: iron
ros-planning/navigation_msgs:
type: git
url: https://github.com/ros-planning/navigation_msgs.git
version: iron
ros-tooling/keyboard_handler:
type: git
url: https://github.com/ros-tooling/keyboard_handler.git
version: iron
ros-tooling/libstatistics_collector:
type: git
url: https://github.com/ros-tooling/libstatistics_collector.git
version: iron
ros-visualization/interactive_markers:
type: git
url: https://github.com/ros-visualization/interactive_markers.git
version: iron
ros-visualization/python_qt_binding:
type: git
url: https://github.com/ros-visualization/python_qt_binding.git
version: iron
ros-visualization/qt_gui_core:
type: git
url: https://github.com/ros-visualization/qt_gui_core.git
version: iron
ros-visualization/rqt:
type: git
url: https://github.com/ros-visualization/rqt.git
version: iron
ros-visualization/rqt_action:
type: git
url: https://github.com/ros-visualization/rqt_action.git
version: iron
ros-visualization/rqt_bag:
type: git
url: https://github.com/ros-visualization/rqt_bag.git
version: iron
ros-visualization/rqt_console:
type: git
url: https://github.com/ros-visualization/rqt_console.git
version: iron
ros-visualization/rqt_graph:
type: git
url: https://github.com/ros-visualization/rqt_graph.git
version: iron
ros-visualization/rqt_msg:
type: git
url: https://github.com/ros-visualization/rqt_msg.git
version: iron
ros-visualization/rqt_plot:
type: git
url: https://github.com/ros-visualization/rqt_plot.git
version: iron
ros-visualization/rqt_publisher:
type: git
url: https://github.com/ros-visualization/rqt_publisher.git
version: iron
ros-visualization/rqt_py_console:
type: git
url: https://github.com/ros-visualization/rqt_py_console.git
version: iron
ros-visualization/rqt_reconfigure:
type: git
url: https://github.com/ros-visualization/rqt_reconfigure.git
version: iron
ros-visualization/rqt_service_caller:
type: git
url: https://github.com/ros-visualization/rqt_service_caller.git
version: iron
ros-visualization/rqt_shell:
type: git
url: https://github.com/ros-visualization/rqt_shell.git
version: iron
ros-visualization/rqt_srv:
type: git
url: https://github.com/ros-visualization/rqt_srv.git
version: iron
ros-visualization/rqt_topic:
type: git
url: https://github.com/ros-visualization/rqt_topic.git
version: iron
ros-visualization/tango_icons_vendor:
type: git
url: https://github.com/ros-visualization/tango_icons_vendor.git
version: iron
ros/class_loader:
type: git
url: https://github.com/ros/class_loader.git
version: iron
ros/kdl_parser:
type: git
url: https://github.com/ros/kdl_parser.git
version: iron
ros/pluginlib:
type: git
url: https://github.com/ros/pluginlib.git
version: iron
ros/resource_retriever:
type: git
url: https://github.com/ros/resource_retriever.git
version: iron
ros/robot_state_publisher:
type: git
url: https://github.com/ros/robot_state_publisher.git
version: iron
ros/ros_environment:
type: git
url: https://github.com/ros/ros_environment.git
version: iron
ros/ros_tutorials:
type: git
url: https://github.com/ros/ros_tutorials.git
version: iron
ros/urdfdom:
type: git
url: https://github.com/ros/urdfdom.git
version: iron
ros/urdfdom_headers:
type: git
url: https://github.com/ros/urdfdom_headers.git
version: iron
ros2/ament_cmake_ros:
type: git
url: https://github.com/ros2/ament_cmake_ros.git
version: iron
ros2/common_interfaces:
type: git
url: https://github.com/ros2/common_interfaces.git
version: iron
ros2/console_bridge_vendor:
type: git
url: https://github.com/ros2/console_bridge_vendor.git
version: iron
ros2/demos:
type: git
url: https://github.com/ros2/demos.git
version: iron
ros2/eigen3_cmake_module:
type: git
url: https://github.com/ros2/eigen3_cmake_module.git
version: iron
ros2/example_interfaces:
type: git
url: https://github.com/ros2/example_interfaces.git
version: iron
ros2/examples:
type: git
url: https://github.com/ros2/examples.git
version: iron
ros2/geometry2:
type: git
url: https://github.com/ros2/geometry2.git
version: iron
ros2/launch:
type: git
url: https://github.com/ros2/launch.git
version: iron
ros2/launch_ros:
type: git
url: https://github.com/ros2/launch_ros.git
version: iron
ros2/libyaml_vendor:
type: git
url: https://github.com/ros2/libyaml_vendor.git
version: iron
ros2/message_filters:
type: git
url: https://github.com/ros2/message_filters.git
version: iron
ros2/mimick_vendor:
type: git
url: https://github.com/ros2/mimick_vendor.git
version: iron
ros2/orocos_kdl_vendor:
type: git
url: https://github.com/ros2/orocos_kdl_vendor.git
version: iron
ros2/performance_test_fixture:
type: git
url: https://github.com/ros2/performance_test_fixture.git
version: iron
ros2/pybind11_vendor:
type: git
url: https://github.com/ros2/pybind11_vendor.git
version: iron
ros2/python_cmake_module:
type: git
url: https://github.com/ros2/python_cmake_module.git
version: iron
ros2/rcl:
type: git
url: https://github.com/ros2/rcl.git
version: iron
ros2/rcl_interfaces:
type: git
url: https://github.com/ros2/rcl_interfaces.git
version: iron
ros2/rcl_logging:
type: git
url: https://github.com/ros2/rcl_logging.git
version: iron
ros2/rclcpp:
type: git
url: https://github.com/ros2/rclcpp.git
version: iron
ros2/rclpy:
type: git
url: https://github.com/ros2/rclpy.git
version: iron
ros2/rcpputils:
type: git
url: https://github.com/ros2/rcpputils.git
version: iron
ros2/rcutils:
type: git
url: https://github.com/ros2/rcutils.git
version: iron
ros2/realtime_support:
type: git
url: https://github.com/ros2/realtime_support.git
version: iron
ros2/rmw:
type: git
url: https://github.com/ros2/rmw.git
version: iron
ros2/rmw_connextdds:
type: git
url: https://github.com/ros2/rmw_connextdds.git
version: iron
ros2/rmw_cyclonedds:
type: git
url: https://github.com/ros2/rmw_cyclonedds.git
version: iron
ros2/rmw_dds_common:
type: git
url: https://github.com/ros2/rmw_dds_common.git
version: iron
ros2/rmw_fastrtps:
type: git
url: https://github.com/ros2/rmw_fastrtps.git
version: iron
ros2/rmw_implementation:
type: git
url: https://github.com/ros2/rmw_implementation.git
version: iron
ros2/ros2_tracing:
type: git
url: https://github.com/ros2/ros2_tracing.git
version: iron
ros2/ros2cli:
type: git
url: https://github.com/ros2/ros2cli.git
version: iron
ros2/ros2cli_common_extensions:
type: git
url: https://github.com/ros2/ros2cli_common_extensions.git
version: iron
ros2/ros_testing:
type: git
url: https://github.com/ros2/ros_testing.git
version: iron
ros2/rosbag2:
type: git
url: https://github.com/ros2/rosbag2.git
version: iron
ros2/rosidl:
type: git
url: https://github.com/ros2/rosidl.git
version: iron
ros2/rosidl_core:
type: git
url: https://github.com/ros2/rosidl_core.git
version: iron
ros2/rosidl_dds:
type: git
url: https://github.com/ros2/rosidl_dds.git
version: iron
ros2/rosidl_defaults:
type: git
url: https://github.com/ros2/rosidl_defaults.git
version: iron
ros2/rosidl_dynamic_typesupport:
type: git
url: https://github.com/ros2/rosidl_dynamic_typesupport
version: iron
ros2/rosidl_dynamic_typesupport_fastrtps:
type: git
url: https://github.com/ros2/rosidl_dynamic_typesupport_fastrtps
version: iron
ros2/rosidl_python:
type: git
url: https://github.com/ros2/rosidl_python.git
version: iron
ros2/rosidl_runtime_py:
type: git
url: https://github.com/ros2/rosidl_runtime_py.git
version: iron
ros2/rosidl_typesupport:
type: git
url: https://github.com/ros2/rosidl_typesupport.git
version: iron
ros2/rosidl_typesupport_fastrtps:
type: git
url: https://github.com/ros2/rosidl_typesupport_fastrtps.git
version: iron
ros2/rpyutils:
type: git
url: https://github.com/ros2/rpyutils.git
version: iron
ros2/rviz:
type: git
url: https://github.com/ros2/rviz.git
version: iron
ros2/spdlog_vendor:
type: git
url: https://github.com/ros2/spdlog_vendor.git
version: iron
ros2/sros2:
type: git
url: https://github.com/ros2/sros2.git
version: iron
ros2/system_tests:
type: git
url: https://github.com/ros2/system_tests.git
version: iron
ros2/test_interface_files:
type: git
url: https://github.com/ros2/test_interface_files.git
version: iron
ros2/tinyxml2_vendor:
type: git
url: https://github.com/ros2/tinyxml2_vendor.git
version: iron
ros2/tinyxml_vendor:
type: git
url: https://github.com/ros2/tinyxml_vendor.git
version: iron
ros2/tlsf:
type: git
url: https://github.com/ros2/tlsf.git
version: iron
ros2/unique_identifier_msgs:
type: git
url: https://github.com/ros2/unique_identifier_msgs.git
version: iron
ros2/urdf:
type: git
url: https://github.com/ros2/urdf.git
version: iron
ros2/yaml_cpp_vendor:
type: git
url: https://github.com/ros2/yaml_cpp_vendor.git
version: iron
url对应的就是github上所在的源代码。把github上的这些源代码仓库转移到gitee上，这个gitee提供了这一部分的功能。
在ros2_iron路径下，用vim新建ros2.repos文件。
vim ros2.repos
vim 在normal模式下，输入"+p将https://raw.githubusercontent.com/ros2/ros2/iron/ros2.repos中的内容复制到本地（前提是已经复制到系统内存中了，才能使用这个命令）。用vim查找替换url地址。
:%s/https\/\/github.com\/\(.*\)\//gitee.com:makuswork\//g
这样本地中ros2.repos中的url中的内容全部修改成我自己的gitee仓库中了。我把地址改成了ssh的通信。下载源代码时就不用一直的输入帐号和密码了。保存关闭。
在ros2_iron路径下
vcs import --input ros2.repos src
编译
sudo apt upgrade
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -y --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers"
colcon build --symlink-install
如果编译报错，EasyInstallDeprecationWarning，可以参考colcon build --symlink-install ,编译失败解决方法