ROS2 Foxy 安装
悲剧的发现装错版本了。。。
要求
Ubuntu 20.04(64bit)下载地址:网易开源镜像
支持UTF-8字符集,使用以下命令测试:
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
安装
添加 apt 仓库
sudo apt update && sudo apt install curl gnupg2 lsb-release
curl http://repo.ros2.org/repos.key | sudo apt-key add -
sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://mirror.tuna.tsinghua.edu.cn/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
这里主要是因为原安装教程中的那个地址被墙了,然后为了加速安装,我们这里使用清华的tuna源。
安装相关工具
sudo apt update && sudo apt install -y \
build-essential \
cmake \
git \
libbullet-dev \
python3-colcon-common-extensions \
python3-flake8 \
python3-pip \
python3-pytest-cov \
python3-rosdep \
python3-setuptools \
python3-vcstool \
wget
# install some pip packages needed for testing
python3 -m pip install -U \
argcomplete \
flake8-blind-except \
flake8-builtins \
flake8-class-newline \
flake8-comprehensions \
flake8-deprecated \
flake8-docstrings \
flake8-import-order \
flake8-quotes \
pytest-repeat \
pytest-rerunfailures \
pytest
# install Fast-RTPS dependencies
sudo apt install --no-install-recommends -y \
libasio-dev \
libtinyxml2-dev
# install Cyclone DDS dependencies
sudo apt install --no-install-recommends -y \
libcunit1-dev
安装桌面版(NO SOURCE CODE!!)
sudo apt install ros-foxy-desktop
这一步需要的时间比较久。
source code installation
error1: rcl_logging_log4cxx
Starting >>> rcl_logging_log4cxx
--- stderr: rcl_logging_log4cxx
CMake Error at /usr/share/cmake-3.16/Modules/FindPackageHandleStandardArgs.cmake:146 (message):
Log4cxx_INCLUDE_DIR (missing: Log4cxx_LIBRARY)
Call Stack (most recent call first):
/usr/share/cmake-3.16/Modules/FindPackageHandleStandardArgs.cmake:393 (_FPHSA_FAILURE_MESSAGE)
cmake/FindLog4cxx.cmake:35 (FIND_PACKAGE_HANDLE_STANDARD_ARGS)
CMakeLists.txt:16 (find_package)
---
Failed <<< rcl_logging_log4cxx [17.2s, exited with code 1]
solution:
sudo apt install liblog4cxx-dev
error2
github banned!
参考资料
ROS2 官方文档
古月居 ROS2 安装教程
在Ubuntu 20.04中安装ROS2最新版本Foxy Fitzroy
清华大学开源软件镜像站新增ros2源
注意:
古月居的教程有一步:
sudo apt update
sudo apt install ros-foxy-rmw-connext-cpp # for RTI Connext (requires license agreement)
这个东西ros-foxy-rmw-connext-cpp
暂时用不到,而且执行后会在每次apt更新或者安装时提示你处理这几个connext时缺少这个rti-connext-dds-5.3.1
依赖,很烦。
这个rti-connext-dds-5.3.1
需要用rosdep安装(参考官方教程),如果想搞的话,可以参考之前的那篇文章,里面有处理rosdep init时rawgithubcontents被墙的替代办法,这次就先不搞了。