ubuntu 22.04源码装ros1 noetic

2024-01-12 08:04
文章标签 源码 ubuntu ros1 22.04 noetic

本文主要是介绍ubuntu 22.04源码装ros1 noetic,希望对大家解决编程问题提供一定的参考价值,需要的开发者们随着小编来一起学习吧!

ubuntu 22.04源码装ros1 noetic

文章目录

  • ubuntu 22.04源码装ros1 noetic
    • 1. 安装依赖
    • 2. 更换rosdep相关的rep链接
    • 3. 安装 rosdep
    • 4. 创建工作空间下载源码并安装
    • 5. 编译代码
      • 5.1 修复rosconsole* log相关问题**error**
      • 5.3 python-sip配置相关
      • 5.4 *std::share_mutex* 相关 c++11 与c++17
      • 5.5 opencv库的安装
      • 5.6 assimp 库安装
      • 5.7 ogre库的安装
      • 5.8 ogre库中class Vector3 传统问题,
    • 6. 安装版

参考链接

https://gist.github.com/Meltwin/fe2c15a5d7e6a8795911907f627255e0

1. 安装依赖

sudo apt-get install python3-rosdep python3-rosinstall-generator python3-vcstools python3-vcstool build-essential

2. 更换rosdep相关的rep链接

参考:https://blog.csdn.net/zyh821351004/article/details/135519444?spm=1001.2014.3001.5501

mkdir -p ~/.ros/rosdep
cd ~/.ros/rosdep
~/.ros/rosdep$ git clone git@github.com:ros/rosdistro.git cat rosdep/sources.list.d/20-default.list
yaml file:///home/robot/.ros/rosdep/rosdistro/rosdep/osx-homebrew.yaml osx# generic
yaml file:///home/robot/.ros/rosdep/rosdistro/rosdep/base.yaml
yaml file:///home/robot/.ros/rosdep/rosdistro/rosdep/python.yaml
yaml file:///home/robot/.ros/rosdep/rosdistro/rosdep/ruby.yaml
gbpdistro file:///home/robot/.ros/rosdep/rosdistro/releases/fuerte.yaml fuerte# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead

sudo gedit /etc/ros/rosdep/sources.list.d/20-default.list

 
yaml file:///home/robot/.ros/rosdep/rosdistro/rosdep/osx-homebrew.yaml osx# generic
yaml file:///home/robot/.ros/rosdep/rosdistro/rosdep/base.yaml
yaml file:///home/robot/.ros/rosdep/rosdistro/rosdep/python.yaml
yaml file:///home/robot/.ros/rosdep/rosdistro/rosdep/ruby.yaml
gbpdistro file:///home/robot/.ros/rosdep/rosdistro/releases/fuerte.yaml fuerte# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead

sudo gedit /usr/lib/python3/dist-packages/rosdep2/sources_list.py

#DEFAULT_SOURCES_LIST_URL = 'https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list'
DEFAULT_SOURCES_LIST_URL = 'file:///home/robot/.ros/rosdep/rosdistro/rosdep/sources.list.d/20-default.list'

sudo gedit /usr/lib/python3/dist-packages/rosdep2/rep3.py

#REP3_TARGETS_URL = 'https://raw.githubusercontent.com/ros/rosdistro/master/releases/targets.yaml'
REP3_TARGETS_URL = 'file:///home/robot/.ros/rosdep/rosdistro/releases/targets.yaml'

sudo gedit /usr/lib/python3/dist-packages/rosdistro/init.py

#DEFAULT_INDEX_URL = 'https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml'
DEFAULT_INDEX_URL = 'file:///home/robot/.ros/rosdep/rosdistro/index-v4.yaml'
sudo rm /etc/ros/rosdep/sources.list.d/20-default.list 
sudo rosdep init
rosdep update

3. 安装 rosdep

sudo rosdep init
rosdep update

4. 创建工作空间下载源码并安装

mkdir ./noetic_ws
cd ./noetic_ws
rosinstall_generator desktop --rosdistro noetic --deps --tar > noetic-desktop.rosinstall
mkdir ./src
vcs import --input noetic-desktop.rosinstall ./srcrosdep install --from-paths ./src --ignore-packages-from-source --rosdistro noetic -y

等待下载完成
备份打包源码 csdn_下载:

noetic-desktop.rosinstall  noetic-base.rosinstall
noetic-desktop.rosinstall   737行类似:
- tar:local-name: actionlib/actionliburi: https://github.com/ros-gbp/actionlib-release/archive/release/noetic/actionlib/1.14.0-1.tar.gzversion: actionlib-release-release-noetic-actionlib-1.14.0-1
- tar:local-name: anglesuri: https://github.com/ros-gbp/geometry_angles_utils-release/archive/release/noetic/angles/1.9.13-1.tar.gzversion: geometry_angles_utils-release-release-noetic-angles-1.9.13-1
/opt/ros/noetic_ws/src$ ls
actionlib              metapackages           rqt_moveit
angles                 navigation_msgs        rqt_msg
bond_core              nodelet_core           rqt_nav_view
catkin                 pluginlib              rqt_plot
class_loader           python_qt_binding      rqt_pose_view
cmake_modules          qt_gui_core            rqt_publisher
common_msgs            qwt_dependency         rqt_py_console
common_tutorials       resource_retriever     rqt_reconfigure
control_msgs           robot_state_publisher  rqt_robot_dashboard
diagnostics            ros                    rqt_robot_monitor
dynamic_reconfigure    rosbag_migration_rule  rqt_robot_plugins
executive_smach        ros_comm               rqt_robot_steering
filters                ros_comm_msgs          rqt_runtime_monitor
gencpp                 rosconsole             rqt_rviz
geneus                 rosconsole_bridge      rqt_service_caller
genlisp                roscpp_core            rqt_shell
genmsg                 ros_environment        rqt_srv
gennodejs              roslint                rqt_tf_tree
genpy                  roslisp                rqt_top
geometry               rospack                rqt_topic
geometry2              ros_tutorials          rqt_web
geometry_tutorials     rqt                    rviz
gl_dependency          rqt_action             std_msgs
image_common           rqt_bag                urdf
interactive_markers    rqt_common_plugins     urdf_tutorial
joint_state_publisher  rqt_console            vision_opencv
kdl_parser             rqt_dep                visualization_tutorials
laser_geometry         rqt_graph              webkit_dependency
media_export           rqt_image_view         xacro
message_generation     rqt_launch
message_runtime        rqt_logger_level

5. 编译代码

./src/catkin/bin/catkin_make_isolated -DCMAKE_BUILD_TYPE=Release

会遇到一些列报错:

5.1 修复rosconsole* log相关问题error

用rosconsole_log4cxx.cpp里面的代码全部替换源代码src/rosconsole/src/rosconsole/impl/rosconsole_log4cxx.cpp

替代rosconsole_log4cxx.cpp
https://gist.github.com/kintzhao/3947142d3161e11e5a0c326b79e9ebdb### 5.2 qt5库相关的安装

sudo apt install  libqt5widgets5  qtcreator qtbase5-dev qt5-qmake cmake

5.3 python-sip配置相关

sudo apt install  sip-dev python3-sip-dev python3-pyqt5.sip
sudo apt install  python3-pyqt5.sip python3-pyqt5 pyqt5-dev 

5.4 std::share_mutex 相关 c++11 与c++17

下载 change_cpp.py 文件到ws路径下,change_cpp.py

import os
from colorama import Fore, StyleWANTED_WIDTH = 100
DISPLAY_WIDTH = min(WANTED_WIDTH, os.get_terminal_size().columns - 2)
print("┏" + "".center(DISPLAY_WIDTH, "━") + "┓")
print(f"┃{Fore.RED}" + "CMakeLists to C++17 Utils".center(DISPLAY_WIDTH, " ") + f"{Style.RESET_ALL}┃")
print(f"┃{Style.BRIGHT+ Fore.BLACK}" + "Meltwin - 2023".center(DISPLAY_WIDTH, " ") + f"{Style.RESET_ALL}┃")
print("┗" + "".center(DISPLAY_WIDTH, "━") + "┛")
print()REPLACE_FILTER = {"-std=c++11":"-std=c++17","COMPILER_SUPPORTS_CXX11": "COMPILER_SUPPORTS_CXX17","CMAKE_CXX_STANDARD 11": "CMAKE_CXX_STANDARD 17","CMAKE_CXX_STANDARD 14": "CMAKE_CXX_STANDARD 17"
}def fix_cmakelist(cmakelist_path: str) -> None:print(f"{Fore.YELLOW}{Fore.RESET}Found {Fore.RED}{cmakelist_path}{Fore.RESET}", end=" ")with open(cmakelist_path, "r") as handle:data = handle.read()# Replacingchanged = Falsefor key, value in REPLACE_FILTER.items():if data.find(key) != -1:data = data.replace(key, value)changed = Trueif changed:with open(cmakelist_path, "w") as handle:handle.write(data)print(f"{Fore.GREEN}Fixed !" if changed else f"{Fore.BLUE}Nothing to change")def walk_dir(dir: str, depth = 0) -> None:if depth >=2:returnfor d in os.listdir(dir):cmakelist_path = f"{dir}/{d}/CMakeLists.txt"if not os.path.isfile(cmakelist_path):walk_dir(f"{dir}/{d}", depth+1)else :fix_cmakelist(cmakelist_path)if __name__ == "__main__":# Get all the CMakeLists.txtwalk_dir("./src")

将当前src目录下工程cmake中c++17方式的调整为c++11

  python3 change_cpp.py

5.5 opencv库的安装

 sudo apt install  libopencv-dev

5.6 assimp 库安装

 sudo apt install  libassimp-dev python3-pyassimp

5.7 ogre库的安装

sudo apt install  libogre-1.12-dev
sudo apt install  libogre1.12.10

5.8 ogre库中class Vector3 传统问题,

注释掉文件plant_flag_tool.h imu_visual.h 中的class Vector3 定义

gedit /opt/ros/noetic_ws/src/visualization_tutorials/rviz_plugin_tutorials/src/plant_flag_tool.hnamespace Ogre
{
class SceneNode;
//class Vector3;
}
gedit /opt/ros/noetic_ws/src/visualization_tutorials/rviz_plugin_tutorials/src/imu_visual.hnamespace Ogre
{
//class Vector3;
class Quaternion;
}

编译基本就可以通过了,一共184个包

<== Finished processing package [184 of 184]: 'xacro'

6. 安装版

当前路径安装 或 指定路径安装

./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/noetic

这篇关于ubuntu 22.04源码装ros1 noetic的文章就介绍到这儿,希望我们推荐的文章对编程师们有所帮助!



http://www.chinasem.cn/article/597256

相关文章

JAVA智听未来一站式有声阅读平台听书系统小程序源码

智听未来,一站式有声阅读平台听书系统 🌟&nbsp;开篇:遇见未来,从“智听”开始 在这个快节奏的时代,你是否渴望在忙碌的间隙,找到一片属于自己的宁静角落?是否梦想着能随时随地,沉浸在知识的海洋,或是故事的奇幻世界里?今天,就让我带你一起探索“智听未来”——这一站式有声阅读平台听书系统,它正悄悄改变着我们的阅读方式,让未来触手可及! 📚&nbsp;第一站:海量资源,应有尽有 走进“智听

Java ArrayList扩容机制 (源码解读)

结论:初始长度为10,若所需长度小于1.5倍原长度,则按照1.5倍扩容。若不够用则按照所需长度扩容。 一. 明确类内部重要变量含义         1:数组默认长度         2:这是一个共享的空数组实例,用于明确创建长度为0时的ArrayList ,比如通过 new ArrayList<>(0),ArrayList 内部的数组 elementData 会指向这个 EMPTY_EL

如何在Visual Studio中调试.NET源码

今天偶然在看别人代码时,发现在他的代码里使用了Any判断List<T>是否为空。 我一般的做法是先判断是否为null,再判断Count。 看了一下Count的源码如下: 1 [__DynamicallyInvokable]2 public int Count3 {4 [__DynamicallyInvokable]5 get

工厂ERP管理系统实现源码(JAVA)

工厂进销存管理系统是一个集采购管理、仓库管理、生产管理和销售管理于一体的综合解决方案。该系统旨在帮助企业优化流程、提高效率、降低成本,并实时掌握各环节的运营状况。 在采购管理方面,系统能够处理采购订单、供应商管理和采购入库等流程,确保采购过程的透明和高效。仓库管理方面,实现库存的精准管理,包括入库、出库、盘点等操作,确保库存数据的准确性和实时性。 生产管理模块则涵盖了生产计划制定、物料需求计划、

pico2 开发环境搭建-基于ubuntu

pico2 开发环境搭建-基于ubuntu 安装编译工具链下载sdk 和example编译example 安装编译工具链 sudo apt install cmake gcc-arm-none-eabi libnewlib-arm-none-eabi libstdc++-arm-none-eabi-newlib 注意cmake的版本,需要在3.17 以上 下载sdk 和ex

Spring 源码解读:自定义实现Bean定义的注册与解析

引言 在Spring框架中,Bean的注册与解析是整个依赖注入流程的核心步骤。通过Bean定义,Spring容器知道如何创建、配置和管理每个Bean实例。本篇文章将通过实现一个简化版的Bean定义注册与解析机制,帮助你理解Spring框架背后的设计逻辑。我们还将对比Spring中的BeanDefinition和BeanDefinitionRegistry,以全面掌握Bean注册和解析的核心原理。

音视频入门基础:WAV专题(10)——FFmpeg源码中计算WAV音频文件每个packet的pts、dts的实现

一、引言 从文章《音视频入门基础:WAV专题(6)——通过FFprobe显示WAV音频文件每个数据包的信息》中我们可以知道,通过FFprobe命令可以打印WAV音频文件每个packet(也称为数据包或多媒体包)的信息,这些信息包含该packet的pts、dts: 打印出来的“pts”实际是AVPacket结构体中的成员变量pts,是以AVStream->time_base为单位的显

kubelet组件的启动流程源码分析

概述 摘要: 本文将总结kubelet的作用以及原理,在有一定基础认识的前提下,通过阅读kubelet源码,对kubelet组件的启动流程进行分析。 正文 kubelet的作用 这里对kubelet的作用做一个简单总结。 节点管理 节点的注册 节点状态更新 容器管理(pod生命周期管理) 监听apiserver的容器事件 容器的创建、删除(CRI) 容器的网络的创建与删除

red5-server源码

red5-server源码:https://github.com/Red5/red5-server

TL-Tomcat中长连接的底层源码原理实现

长连接:浏览器告诉tomcat不要将请求关掉。  如果不是长连接,tomcat响应后会告诉浏览器把这个连接关掉。    tomcat中有一个缓冲区  如果发送大批量数据后 又不处理  那么会堆积缓冲区 后面的请求会越来越慢。