Windows源码编译ros2（rolling版本）

felixfxu

已于 2023-08-09 16:37:03 修改

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文章标签： windows

于 2023-07-07 18:49:05 首次发布

本文链接：https://blog.csdn.net/2301_78747167/article/details/131601308

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参考步骤：

https://docs.ros.org/en/rolling/Installation/Alternatives/Windows-Development-Setup.html#get-ros-2-code

1）新建src目录：

C:\ros\rolling>vcs import --input https://gitcode.net/rose3/rose3/-/raw/master/ros2.rolling.repos src

2）run within a Visual Studio Command Prompt

c:\ros\rolling>colcon build --merge-install --cmake-args -G "Visual Studio 17 2022" -A x64

问题1：

--- stderr: fastcdr
CMake Error at CMakeLists.txt:84 (project):
No CMAKE_CXX_COMPILER could be found.

出错的cmakelists.txe是：
project(fastcdr VERSION "${LIB_VERSION_STR}" LANGUAGES CXX)

是cmake和Windows SDK版本的问题，可能是安装了多个SDK（见https://blog.csdn.net/qq_39482438/article/details/81013100 第3种情况），把所有sdk删除再重新安装最新的SDK后问题解决）

问题2：

1 package failed: uncrustify_vendor

打印出错信息：--event-handlers console_direct+

colcon build --merge-install --cmake-args -G "Visual Studio 17 2022" -A x64 --event-handlers console_direct+ --packages-select uncrustify_vendor

[Processing: uncrustify_vendor]
=== .\uncrustify_vendor (git) ===
fatal: unable to access 'https://github.com/uncrustify/uncrustify.git/': Failed to connect to github.com port 443 after 21073 ms: Couldn't connect to server

ros2中，xxx_vendor的子工程，都是xxx的一个编译封装，cmake下载github失败就把下载地址改一下： https://gitcode.net/rose3/uncrustify_vendor/-/merge_requests/1。

问题3：

1 package failed: pybind11_vendor

Performing download step for 'pybind11_vendor'
=== .\pybind11_vendor (git) ===
Could not determine ref type of version: fatal: unable to access 'https://github.com/pybind/pybind11.git/': Failed to connect to github.com port 443 after 21061 ms

如果要查看具体编译错误,可以使用一下参数: --event-handlers console_direct+

例如:

colcon build --merge-install --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo --packages-up-to pybind11_vendor

问题4：

Could NOT find Bullet (missing: BULLET_DYNAMICS_LIBRARY
BULLET_COLLISION_LIBRARY BULLET_MATH_LIBRARY BULLET_SOFTBODY_LIBRARY
BULLET_INCLUDE_DIR)

源码编译安装：https://gitcode.net/rose3/bullet3.git

修正了原master branch中的cmake错误。

cmake编译选项：-DUSE_MSVC_RUNTIME_LIBRARY_DLL=ON -DINSTALL_LIBS=ON