系统ubuntu20.04-ROS2源码安装humble
翻译参考:https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html
系统要求
Humble Hawksbill目前基于Debian的目标平台是
-
Tier 1: Ubuntu Linux - Jammy (22.04) 64-bit
- Tier 3: Ubuntu Linux - Focal (20.04) 64-bit
- Debian Linux - Bullseye (11) 64-bit
其他具有不同支持级别的Linux平台包括:
Arch Linux, see alternate instructions
Fedora Linux, see alternate instructions
OpenEmbedded / webOS OSE, see alternate instructions
As defined in REP 2000.
一. 系统设置
1.1区域设置
请确保您的区域设置支持UTF-8,如果您处于一个最小的环境（例如docker容器）中，那么区域设置可能是像POSIX这样的最小环境。我们使用以下设置进行测试。但是，如果您使用的是不同的UTF-8支持的区域设置，则应该可以。
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
添加ROS 2 apt仓库
您需要将ROS2 apt存储库添加到您的系统中
首先确保Ubuntu Universe存储库已启用。
sudo apt install software-properties-common
sudo add-apt-repository universe
现在添加带有apt的ROS 2 GPG密钥
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
然后将存储库添加到源列表中。
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 $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
安装开发工具和ROS工具
sudo apt update && sudo apt install -y \ python3-flake8-docstrings \ python3-pip \ python3-pytest-cov \ ros-dev-tools
根据你的Ubuntu版本安装软件包。
ubuntu20.04 LTS
python3 -m pip install -U \ flake8-blind-except \ flake8-builtins \ flake8-class-newline \ flake8-comprehensions \ flake8-deprecated \ flake8-import-order \ flake8-quotes \ "pytest>=5.3" \ pytest-repeat \ pytest-rerunfailures
ubuntu22.04 LTS and later
sudo apt install -y \ python3-flake8-blind-except \ python3-flake8-builtins \ python3-flake8-class-newline \ python3-flake8-comprehensions \ python3-flake8-deprecated \ python3-flake8-import-order \ python3-flake8-quotes \ python3-pytest-repeat \ python3-pytest-rerunfailures
获取ROS2的源码
创建一个工作区并克隆所有源码：
mkdir -p ~/ros2_humble/src cd ~/ros2_humble vcs import --input https://raw.githubusercontent.com/ros2/ros2/humble/ros2.repos src
使用rosdep安装依赖
ROS2软件包建立在频繁更新的Ubuntu系统上。始终建议您在安装新软件包之前确保系统是最新的。
sudo apt upgrade
sudo rosdep init rosdep update rosdep install --from-paths src --ignore-src -y --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers"
如果你使用的发行版是基于Ubuntu的（比如Linux Mint），但没有将自己标识为Ubuntu，你会收到一条错误消息，比如Unsupported OS[Mint]。在这种情况下，将--os=ubuntu:jammy附加到上面的命令中。
安装其他DDS实现（可选）
如果您想使用默认之外的其他DDS或RTPS供应商，您可以在此处找到说明。here.
在工作区中编译代码
如果您已经以另一种方式（通过Debians或二进制发行版）安装了ROS 2，请确保您在没有其他安装来源的新环境中运行以下命令。还要确保你的.bashrc中没有source/opt/ros/${ros_DISTRO}/setup.bash。你可以确保ros 2不是用命令printenv|grep-i ros来源的。输出应该为空.
关于使用ROS工作区的更多信息可以在本教程中找到。this tutorial.
cd ~/ros2_humble/
colcon build --symlink-install
注意：如果您在编译所有示例时遇到问题，并且这使您无法成功完成构建，则可以使用COLCON_IGNORE，方法与CATKIN_IGNORE相同，以忽略子树或从工作区中删除文件夹。举个例子：您希望避免安装大型OpenCV库。那么，只需在cam2image演示目录中运行touch COLCON_IGNORE，就可以将其排除在构建过程之外。
环境设置
source setup script
通过获取以下文件来设置您的环境。
# Replace ".bash" with your shell if you're not using bash # Possible values are: setup.bash, setup.sh, setup.zsh . ~/ros2_humble/install/local_setup.bash
尝试一些例子
在一个终端中，获取设置文件，然后运行C++讲话器：
. ~/ros2_humble/install/local_setup.bash
ros2 run demo_nodes_cpp talker
在另一个终端源中，安装文件，然后运行Python侦听器：
. ~/ros2_humble/install/local_setup.bash
ros2 run demo_nodes_py listener
你应该看到talker说这是发布消息，而listener说我听到了这些消息。这将验证C++和Python API是否正常工作.
安装之后
教程Continue with the tutorials and demos to configure your environment, create your own workspace and packages, and learn ROS 2 core concepts.
使用ROS1桥
ROS 1桥可以连接从ROS 1到ROS 2的话题，反之亦然。
See the dedicated documentation on how to build and use the ROS 1 bridge.
其他RMW实现（可选）
ROS2使用的默认中间件是Fast DDS，但中间件（RMW）可以在运行时替换。请参阅有关如何使用多个RMW的指南。 guide
可替换的编译器
除了gcc之外，使用不同的编译器来编译ROS2是很容易的。如果将环境变量CC和CXX分别设置为工作的C和C++编译器的可执行文件，并重新触发CMake配置（通过使用-force-CMake-config或删除要受影响的包），CMake将重新配置并使用不同的编译器。
Clang
配置CMake来检测和使用Clang:
sudo apt install clang export CC=clang export CXX=clang++ colcon build --cmake-force-configure
卸载
1、如果您按照上面的说明使用colcon安装了工作区，那么“卸载”可能只是打开一个新的终端，而不是获取工作区的设置文件。这样，您的环境将表现得好像您的系统上没有Humble安装一样。
2、如果您还试图释放空间，可以使用以下命令删除整个工作区目录：
rm -rf ~/ros2_humble
1.安装cartographer
下载源码
git clone https://ghproxy.com/https://github.com/ros2/cartographer.git -b ros2 git clone https://ghproxy.com/https://github.com/ros2/cartographer_ros.git -b ros2
source一下humble的目录source ~/ros2_humble/humble/local_setup.zsh
会出现如下问题
pcl_conversions", but CMake did not find one.
以及下面
Could not find a package configuration file provided by "pcl_msgs" with any of the following names: pcl_msgsConfig.cmake pcl_msgs-config.cmake
然后需要源码下载
git clone https://github.com/ros-perception/perception_pcl 选择ros2版本的 git clone https://github.com/ros-perception/pcl_msgs -b ros2
编译的时候需要source ~/ros2_humble/humble/local_setup.zsh
然后按照cmake的方式编译即可。之后再编译cartographer即可colcon build
使用单线激光雷达运行cartographer在 ros2下的humble版本
配置好urdf
<!-- Copyright 2016 The Cartographer Authors Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License. --> <robot name="cartographer_backpack_2d"> <material name="orange"> <color rgba="1.0 0.5 0.2 1" /> </material> <material name="gray"> <color rgba="0.2 0.2 0.2 1" /> </material> <link name="imu_link"> <visual> <origin xyz="0 0 0" /> <geometry> <box size="0.06 0.04 0.02" /> </geometry> <material name="orange" /> </visual> </link> <link name="base_scan"> <visual> <origin xyz="0 0 0" /> <geometry> <cylinder length="0.05" radius="0.03" /> </geometry> <material name="gray" /> </visual> </link> <link name="vertical_laser_link"> <visual> <origin xyz="0 0 0" /> <geometry> <cylinder length="0.05" radius="0.03" /> </geometry> <material name="gray" /> </visual> </link> <link name="base_footprint" /> <joint name="imu_link_joint" type="fixed"> <parent link="base_footprint" /> <child link="imu_link" /> <origin xyz="0 0 0" /> </joint> <joint name="base_scan_joint" type="fixed"> <parent link="base_footprint" /> <child link="base_scan" /> <origin rpy="0 0.0 0.0" xyz="0.0 0 0.0" /> </joint> <joint name="vertical_laser_link_joint" type="fixed"> <parent link="base_footprint" /> <child link="vertical_laser_link" /> <origin rpy="0 -1.570796 3.141593" xyz="0.1007 0 0.1814" /> </joint> </robot>
新建配置文件
-- Copyright 2016 The Cartographer Authors -- -- Licensed under the Apache License, Version 2.0 (the "License"); -- you may not use this file except in compliance with the License. -- You may obtain a copy of the License at -- -- http://www.apache.org/licenses/LICENSE-2.0 -- -- Unless required by applicable law or agreed to in writing, software -- distributed under the License is distributed on an "AS IS" BASIS, -- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -- See the License for the specific language governing permissions and -- limitations under the License. include "map_builder.lua" include "trajectory_builder.lua" options = { map_builder = MAP_BUILDER, trajectory_builder = TRAJECTORY_BUILDER, map_frame = "map", tracking_frame = "base_footprint", published_frame = "base_footprint", odom_frame = "odom", provide_odom_frame = true, publish_frame_projected_to_2d = false, use_pose_extrapolator = true, use_odometry = false, use_nav_sat = false, use_landmarks = false, num_laser_scans = 1, num_multi_echo_laser_scans = 0, num_subdivisions_per_laser_scan = 1, num_point_clouds = 0, lookup_transform_timeout_sec = 0.2, submap_publish_period_sec = 0.3, pose_publish_period_sec = 5e-3, trajectory_publish_period_sec = 30e-3, rangefinder_sampling_ratio = 1., odometry_sampling_ratio = 1., fixed_frame_pose_sampling_ratio = 1., imu_sampling_ratio = 1., landmarks_sampling_ratio = 1., } MAP_BUILDER.use_trajectory_builder_2d = true TRAJECTORY_BUILDER_2D.submaps.num_range_data = 35 TRAJECTORY_BUILDER_2D.min_range = 0.3 TRAJECTORY_BUILDER_2D.max_range = 8. TRAJECTORY_BUILDER_2D.missing_data_ray_length = 1. TRAJECTORY_BUILDER_2D.use_imu_data = false TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1 TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10. TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1 POSE_GRAPH.optimization_problem.huber_scale = 1e2 POSE_GRAPH.optimize_every_n_nodes = 35 POSE_GRAPH.constraint_builder.min_score = 0.65 return options
新建launch文件
""" Copyright 2018 The Cartographer Authors Copyright 2022 Wyca Robotics (for the ros2 conversion) Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License. """ from launch import LaunchDescription from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, ExecuteProcess from launch.conditions import IfCondition, UnlessCondition from launch.substitutions import LaunchConfiguration from launch_ros.actions import Node, SetRemap from launch_ros.substitutions import FindPackageShare from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.actions import Shutdown import os def generate_launch_description(): ## ***** Launch arguments ***** bag_filename_arg = DeclareLaunchArgument('bag_filename') ## ***** File paths ****** pkg_share = FindPackageShare('cartographer_ros').find('cartographer_ros') urdf_dir = os.path.join(pkg_share, 'urdf') urdf_file = os.path.join(urdf_dir, 'backpack_2d.urdf') with open(urdf_file, 'r') as infp: robot_desc = infp.read() ## ***** Nodes ***** robot_state_publisher_node = Node( package = 'robot_state_publisher', executable = 'robot_state_publisher', parameters=[ {'robot_description': robot_desc}, {'use_sim_time': False}], output = 'screen' ) cartographer_node = Node( package = 'cartographer_ros', executable = 'cartographer_node', parameters = [{'use_sim_time': False}], arguments = [ '-configuration_directory', FindPackageShare('cartographer_ros').find('cartographer_ros') + '/configuration_files', '-configuration_basename', 'my_revo_lds.lua'], remappings = [ ('scan', 'scan')],#节点映射，修改为scan output = 'screen' ) cartographer_occupancy_grid_node = Node( package = 'cartographer_ros', executable = 'cartographer_occupancy_grid_node', parameters = [ {'use_sim_time': False}, {'resolution': 0.05}], ) rviz_node = Node( package = 'rviz2', executable = 'rviz2', on_exit = Shutdown(), arguments = ['-d', FindPackageShare('cartographer_ros').find('cartographer_ros') + '/configuration_files/demo_2d.rviz'], parameters = [{'use_sim_time': False}], ) ros2_bag_play_cmd = ExecuteProcess( cmd = ['ros2', 'bag', 'play', LaunchConfiguration('bag_filename'), '--clock'], name = 'rosbag_play', ) return LaunchDescription([ # Launch arguments #bag_filename_arg, 注释 # Nodes robot_state_publisher_node, cartographer_node, cartographer_occupancy_grid_node, rviz_node, #ros2_bag_play_cmd 注释 ])
https://docs.ros.org/en/humble/Tutorials.html#
