厦门网站制作策划,高中生做网站网页,响应式网站建设企业,微信网站的结构ROS2 一.ROS2 IRON环境搭建1.设置系统字符集为UTF-82.将RO2 apt 库添加到系统中3.添加ROS2 GPG key4.添加ROS 2 的软件源安装开发工具 二.下载ROS2sh源代码编译 一.ROS2 IRON环境搭建
虚拟机系统#xff1a;Ubuntu22.04 虚拟机#xff1a;VMware-player-full-16.2.5-2090451… ROS2 一.ROS2 IRON环境搭建1.设置系统字符集为UTF-82.将RO2 apt 库添加到系统中3.添加ROS2 GPG key4.添加ROS 2 的软件源安装开发工具 二.下载ROS2sh源代码编译 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-8sudo apt update sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALLen_US.UTF-8 LANGen_US.UTF-8
export LANGen_US.UTF-8locale # verify settings2.将RO2 apt 库添加到系统中
sudo apt install software-properties-common
sudo add-apt-repository universe3.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.gpg4.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。但是因为电脑不能翻墙的原因一直下失败。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: giturl: https://github.com/ament/ament_cmake.gitversion: ironament/ament_index:type: giturl: https://github.com/ament/ament_index.gitversion: ironament/ament_lint:type: giturl: https://github.com/ament/ament_lint.gitversion: ironament/ament_package:type: giturl: https://github.com/ament/ament_package.gitversion: ironament/google_benchmark_vendor:type: giturl: https://github.com/ament/google_benchmark_vendor.gitversion: ironament/googletest:type: giturl: https://github.com/ament/googletest.gitversion: ironament/uncrustify_vendor:type: giturl: https://github.com/ament/uncrustify_vendor.gitversion: ironeProsima/Fast-CDR:type: giturl: https://github.com/eProsima/Fast-CDR.gitversion: v1.0.27eProsima/Fast-DDS:type: giturl: https://github.com/eProsima/Fast-DDS.gitversion: 2.10.xeProsima/foonathan_memory_vendor:type: giturl: https://github.com/eProsima/foonathan_memory_vendor.gitversion: mastereclipse-cyclonedds/cyclonedds:type: giturl: https://github.com/eclipse-cyclonedds/cyclonedds.gitversion: releases/0.10.xeclipse-iceoryx/iceoryx:type: giturl: https://github.com/eclipse-iceoryx/iceoryx.gitversion: release_2.0gazebo-release/gz_cmake2_vendor:type: giturl: https://github.com/gazebo-release/gz_cmake2_vendor.gitversion: irongazebo-release/gz_math6_vendor:type: giturl: https://github.com/gazebo-release/gz_math6_vendor.gitversion: ironosrf/osrf_pycommon:type: giturl: https://github.com/osrf/osrf_pycommon.gitversion: masterosrf/osrf_testing_tools_cpp:type: giturl: https://github.com/osrf/osrf_testing_tools_cpp.gitversion: ironros-perception/image_common:type: giturl: https://github.com/ros-perception/image_common.gitversion: ironros-perception/laser_geometry:type: giturl: https://github.com/ros-perception/laser_geometry.gitversion: ironros-planning/navigation_msgs:type: giturl: https://github.com/ros-planning/navigation_msgs.gitversion: ironros-tooling/keyboard_handler:type: giturl: https://github.com/ros-tooling/keyboard_handler.gitversion: ironros-tooling/libstatistics_collector:type: giturl: https://github.com/ros-tooling/libstatistics_collector.gitversion: ironros-visualization/interactive_markers:type: giturl: https://github.com/ros-visualization/interactive_markers.gitversion: ironros-visualization/python_qt_binding:type: giturl: https://github.com/ros-visualization/python_qt_binding.gitversion: ironros-visualization/qt_gui_core:type: giturl: https://github.com/ros-visualization/qt_gui_core.gitversion: ironros-visualization/rqt:type: giturl: https://github.com/ros-visualization/rqt.gitversion: ironros-visualization/rqt_action:type: giturl: https://github.com/ros-visualization/rqt_action.gitversion: ironros-visualization/rqt_bag:type: giturl: https://github.com/ros-visualization/rqt_bag.gitversion: ironros-visualization/rqt_console:type: giturl: https://github.com/ros-visualization/rqt_console.gitversion: ironros-visualization/rqt_graph:type: giturl: https://github.com/ros-visualization/rqt_graph.gitversion: ironros-visualization/rqt_msg:type: giturl: https://github.com/ros-visualization/rqt_msg.gitversion: ironros-visualization/rqt_plot:type: giturl: https://github.com/ros-visualization/rqt_plot.gitversion: ironros-visualization/rqt_publisher:type: giturl: https://github.com/ros-visualization/rqt_publisher.gitversion: ironros-visualization/rqt_py_console:type: giturl: https://github.com/ros-visualization/rqt_py_console.gitversion: ironros-visualization/rqt_reconfigure:type: giturl: https://github.com/ros-visualization/rqt_reconfigure.gitversion: ironros-visualization/rqt_service_caller:type: giturl: https://github.com/ros-visualization/rqt_service_caller.gitversion: ironros-visualization/rqt_shell:type: giturl: https://github.com/ros-visualization/rqt_shell.gitversion: ironros-visualization/rqt_srv:type: giturl: https://github.com/ros-visualization/rqt_srv.gitversion: ironros-visualization/rqt_topic:type: giturl: https://github.com/ros-visualization/rqt_topic.gitversion: ironros-visualization/tango_icons_vendor:type: giturl: https://github.com/ros-visualization/tango_icons_vendor.gitversion: ironros/class_loader:type: giturl: https://github.com/ros/class_loader.gitversion: ironros/kdl_parser:type: giturl: https://github.com/ros/kdl_parser.gitversion: ironros/pluginlib:type: giturl: https://github.com/ros/pluginlib.gitversion: ironros/resource_retriever:type: giturl: https://github.com/ros/resource_retriever.gitversion: ironros/robot_state_publisher:type: giturl: https://github.com/ros/robot_state_publisher.gitversion: ironros/ros_environment:type: giturl: https://github.com/ros/ros_environment.gitversion: ironros/ros_tutorials:type: giturl: https://github.com/ros/ros_tutorials.gitversion: ironros/urdfdom:type: giturl: https://github.com/ros/urdfdom.gitversion: ironros/urdfdom_headers:type: giturl: https://github.com/ros/urdfdom_headers.gitversion: ironros2/ament_cmake_ros:type: giturl: https://github.com/ros2/ament_cmake_ros.gitversion: ironros2/common_interfaces:type: giturl: https://github.com/ros2/common_interfaces.gitversion: ironros2/console_bridge_vendor:type: giturl: https://github.com/ros2/console_bridge_vendor.gitversion: ironros2/demos:type: giturl: https://github.com/ros2/demos.gitversion: ironros2/eigen3_cmake_module:type: giturl: https://github.com/ros2/eigen3_cmake_module.gitversion: ironros2/example_interfaces:type: giturl: https://github.com/ros2/example_interfaces.gitversion: ironros2/examples:type: giturl: https://github.com/ros2/examples.gitversion: ironros2/geometry2:type: giturl: https://github.com/ros2/geometry2.gitversion: ironros2/launch:type: giturl: https://github.com/ros2/launch.gitversion: ironros2/launch_ros:type: giturl: https://github.com/ros2/launch_ros.gitversion: ironros2/libyaml_vendor:type: giturl: https://github.com/ros2/libyaml_vendor.gitversion: ironros2/message_filters:type: giturl: https://github.com/ros2/message_filters.gitversion: ironros2/mimick_vendor:type: giturl: https://github.com/ros2/mimick_vendor.gitversion: ironros2/orocos_kdl_vendor:type: giturl: https://github.com/ros2/orocos_kdl_vendor.gitversion: ironros2/performance_test_fixture:type: giturl: https://github.com/ros2/performance_test_fixture.gitversion: ironros2/pybind11_vendor:type: giturl: https://github.com/ros2/pybind11_vendor.gitversion: ironros2/python_cmake_module:type: giturl: https://github.com/ros2/python_cmake_module.gitversion: ironros2/rcl:type: giturl: https://github.com/ros2/rcl.gitversion: ironros2/rcl_interfaces:type: giturl: https://github.com/ros2/rcl_interfaces.gitversion: ironros2/rcl_logging:type: giturl: https://github.com/ros2/rcl_logging.gitversion: ironros2/rclcpp:type: giturl: https://github.com/ros2/rclcpp.gitversion: ironros2/rclpy:type: giturl: https://github.com/ros2/rclpy.gitversion: ironros2/rcpputils:type: giturl: https://github.com/ros2/rcpputils.gitversion: ironros2/rcutils:type: giturl: https://github.com/ros2/rcutils.gitversion: ironros2/realtime_support:type: giturl: https://github.com/ros2/realtime_support.gitversion: ironros2/rmw:type: giturl: https://github.com/ros2/rmw.gitversion: ironros2/rmw_connextdds:type: giturl: https://github.com/ros2/rmw_connextdds.gitversion: ironros2/rmw_cyclonedds:type: giturl: https://github.com/ros2/rmw_cyclonedds.gitversion: ironros2/rmw_dds_common:type: giturl: https://github.com/ros2/rmw_dds_common.gitversion: ironros2/rmw_fastrtps:type: giturl: https://github.com/ros2/rmw_fastrtps.gitversion: ironros2/rmw_implementation:type: giturl: https://github.com/ros2/rmw_implementation.gitversion: ironros2/ros2_tracing:type: giturl: https://github.com/ros2/ros2_tracing.gitversion: ironros2/ros2cli:type: giturl: https://github.com/ros2/ros2cli.gitversion: ironros2/ros2cli_common_extensions:type: giturl: https://github.com/ros2/ros2cli_common_extensions.gitversion: ironros2/ros_testing:type: giturl: https://github.com/ros2/ros_testing.gitversion: ironros2/rosbag2:type: giturl: https://github.com/ros2/rosbag2.gitversion: ironros2/rosidl:type: giturl: https://github.com/ros2/rosidl.gitversion: ironros2/rosidl_core:type: giturl: https://github.com/ros2/rosidl_core.gitversion: ironros2/rosidl_dds:type: giturl: https://github.com/ros2/rosidl_dds.gitversion: ironros2/rosidl_defaults:type: giturl: https://github.com/ros2/rosidl_defaults.gitversion: ironros2/rosidl_dynamic_typesupport:type: giturl: https://github.com/ros2/rosidl_dynamic_typesupportversion: ironros2/rosidl_dynamic_typesupport_fastrtps:type: giturl: https://github.com/ros2/rosidl_dynamic_typesupport_fastrtpsversion: ironros2/rosidl_python:type: giturl: https://github.com/ros2/rosidl_python.gitversion: ironros2/rosidl_runtime_py:type: giturl: https://github.com/ros2/rosidl_runtime_py.gitversion: ironros2/rosidl_typesupport:type: giturl: https://github.com/ros2/rosidl_typesupport.gitversion: ironros2/rosidl_typesupport_fastrtps:type: giturl: https://github.com/ros2/rosidl_typesupport_fastrtps.gitversion: ironros2/rpyutils:type: giturl: https://github.com/ros2/rpyutils.gitversion: ironros2/rviz:type: giturl: https://github.com/ros2/rviz.gitversion: ironros2/spdlog_vendor:type: giturl: https://github.com/ros2/spdlog_vendor.gitversion: ironros2/sros2:type: giturl: https://github.com/ros2/sros2.gitversion: ironros2/system_tests:type: giturl: https://github.com/ros2/system_tests.gitversion: ironros2/test_interface_files:type: giturl: https://github.com/ros2/test_interface_files.gitversion: ironros2/tinyxml2_vendor:type: giturl: https://github.com/ros2/tinyxml2_vendor.gitversion: ironros2/tinyxml_vendor:type: giturl: https://github.com/ros2/tinyxml_vendor.gitversion: ironros2/tlsf:type: giturl: https://github.com/ros2/tlsf.gitversion: ironros2/unique_identifier_msgs:type: giturl: https://github.com/ros2/unique_identifier_msgs.gitversion: ironros2/urdf:type: giturl: https://github.com/ros2/urdf.gitversion: ironros2/yaml_cpp_vendor:type: giturl: https://github.com/ros2/yaml_cpp_vendor.gitversion: ironurl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 upgradesudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -y --skip-keys fastcdr rti-connext-dds-6.0.1 urdfdom_headerscolcon 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
