Debian系统编译Ros1(noetic)源码

最新推荐文章于 2024-04-29 12:52:33 发布
最新推荐文章于 2024-04-29 12:52:33 发布
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分类专栏： 随手贴 文章标签： debian ROS Noetic 机器人 人工智能
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本文链接：https://blog.csdn.net/tjdatamining/article/details/129294172
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一、编译说明

简要说明ros1(noetic)版本的源码编译，系统是Debian。
主要编译ROS1的核心包。
在编译前需要进行相关包的安装。
[源码下载链接](https://download.csdn.net/download/TJXUNwu/87522092?spm=1001.2014.3001.5501)

二、编译准备

在准备好Debian系统后，提前安装以下库：
sudo pip3 install defusedxml
sudo pip3 install rospkg
sudo pip3 install netifaces
sudo pip3 install empy
sudo apt install libboost1.74-all-dev
sudo apt install liblog4cxx11
sudo apt install liblog4cxx-dev
sudo apt install libtinyxml2-8
sudo apt install libtinyxml2-dev
sudo apt install libtinyxml-dev libtinyxml-doc
sudo apt install ogre-1.12-tools
sudo apt install assimp-utils
sudo apt install libyaml-cpp0.6
sudo apt install libyaml-dev
sudo apt install libyaml-cpp-dev
sudo apt install libpoco-doc libpoco-dev
sudo apt install libpocofoundation70
sudo apt install liburdfdom-tools
sudo apt install liburdffdom-headers-dev
sudo apt install liburdfdom-dev
sudo apt install python3-pyassimp libassimp-dev
sudo apt install libcollada-dom2.4-dp-dev
sudo apt install python3-sip python3-sip-dev  python3-sip-dbg
sudo apt install liblz4-dev
sudo apt install libogre-1.8-dev

sudo apt install libyaml-cpp0.3-dev
sudo apt install python3-netifaces python3-defusedxml ---> "roscore缺少模块组件"

git clone --recursive https://github.com/ros/console_bridge.git
sudo mv console_bridge /opt
cd /opt
sudo chmod -R 777 console_bridge
cd console_bridge
mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr -DBUILD_SHARE_LIBS=ON
make -j4 && sudo make install
或者	sudo apt install libconsole-bridge0.4 libconsole-bridge-dev -y

sudo pip3 install pycrypto
sudo pip3 install pycryptodomex
sudo pip3 install gnupg

sudo apt install qtcreator
sudo apt install python3-pyqt5 pyqt5-dev python3-sip-dev pyqt5-dev-tools
sudo pip3 install wheel
sudo pip3 install sip sip-dev
sudo pip3 install -v  pyqt5==5.15.2  -i https://mirror.baidu.com/pypi/simple 

sudo pip3 install pybind11 -i https://mirror.baidu.com/pypi/simple 
sudo apt install libopencv-dev
sudo apt install libgtest-dev -y
sudo apt install libuvc-dev
sudo apt install libeigen3-dev
sudo apt install liborocos-kdl-dev	
sudo apt install libcurl4-openssl-dev
sudo apt install libbullet-dev
sudo apt install libbz2-dev
sudo apt install liblzma-dev
sudo apt install libgpgme-dev
sudo apt install libpcl-dev
sudo apt install libgazebo9-dev
sudo apt install jskeus-dev
	
sudo apt install openssl-devel
sudo apt install python3-gpgme
sudo apt install gpgme-devel

三、下载ROS1(noetic)源码

新建文件目录，并在该目录内下载源码
例如创建文件夹：mkdir -p ~/ros_noetic/src
cd ~/ros_noetic/src
打开终端，输入以下命令，下载ros(noetic)源码
git clone --recursive https://github.com/ros/actionlib.git
git clone -b 1.9.13 --recursive https://github.com/ros/angles.git
git clone --recursive https://github.com/ros/bond_core.git
git clone --recursive https://github.com/ros/catkin.git
git clone -b noetic-devel --recursive https://github.com/ros/class_loader.git
git clone --recursive https://github.com/ros/cmake_modules.git
git clone --recursive https://github.com/ros/common_msgs.git
git clone --recursive https://github.com/ros/common_tutorials.git
git clone -b 1.5.2 --recursive https://github.com/ros-controls/control_msgs.git
git clone --recursive https://github.com/ros/diagnostics.git
git clone --recursive https://github.com/ros/dynamic_reconfigure.git
git clone --recursive https://github.com/ros/executive_smach.git
git clone -b noetic-devel --recursive https://github.com/ros/filters.git
git clone -b noetic-devel --recursive https://github.com/ros/gencpp.git
git clone --recursive https://github.com/jsk-ros-pkg/geneus.git
git clone --recursive https://github.com/ros/genlisp.git
git clone -b noetic-devel --recursive https://github.com/ros/genmsg.git
git clone -b chris-smith-version-bump --recursive https://github.com/RethinkRobotics-opensource/gennodejs.git
git clone --recursive https://github.com/ros/genpy.git

git clone --recursive https://github.com/ros/geometry.git
git clone --recursive https://github.com/ros/geometry2.git
git clone --recursive https://github.com/ros/geometry_tutorials.git
git clone --recursive https://github.com/ros-visualization/gl_dependency.git

git clone --recursive https://github.com/ros/ros.git
git clone --recursive https://github.com/ros/rosdistro.git

git clone --recursive https://github.com/ros/kdl_parser.git

git clone --recursive https://github.com/ros/ros_comm.git
git clone --recursive https://github.com/ros/joint_state_publisher.git
git clone --recursive https://github.com/ros/meta-ros.git

git clone --recursive https://github.com/ros/pluginlib.git
git clone --recursive https://github.com/ros/ros_environment.git
git clone --recursive https://github.com/ros/urdf_parser_py.git
git clone --recursive https://github.com/ros/urdfdom_headers.git
git clone --recursive https://github.com/ros/ros_tutorials.git
git clone -b noetic-devel --recursive https://github.com/ros/robot_state_publisher.git
git clone --recursive https://github.com/ros/rosbag_snapshot.git
git clone --recursive https://github.com/ros/rosconsole.git
git clone --recursive https://github.com/ros/urdfdom.git

git clone --recursive https://github.com/ros/ros-overlay.git
git clone --recursive https://github.com/ros/roslint.git
git clone --recursive https://github.com/ros/xacro.git

git clone --recursive https://github.com/ros/urdf.git

git clone --recursive https://github.com/ros/nodelet_core.git
git clone --recursive https://github.com/ros/roscpp_core.git
git clone --recursive https://github.com/ros/meta-ros-webos.git
git clone --recursive https://github.com/ros/urdf_tutorial.git
git clone --recursive https://github.com/ros/urdf_sim_tutorial.git

git clone --recursive https://github.com/ros/ros_comm_msgs.git
git clone --recursive https://github.com/ros/roslisp_common.git
git clone --recursive https://github.com/ros/solidworks_urdf_exporter.git
git clone --recursive https://github.com/ros/collada_urdf.git
git clone --recursive https://github.com/ros/std_msgs.git
git clone --recursive https://github.com/ros/catkin_tutorials.git
git clone --recursive https://github.com/ros/ros_realtime.git
git clone --recursive https://github.com/ros/eigen_stl_containers.git
git clone --recursive https://github.com/ros/rospack.git
git clone --recursive https://github.com/ros/homebrew-deps.git
git clone --recursive https://github.com/ros/rosconsole_bridge.git
git clone --recursive https://github.com/ros/roslisp.git
git clone -b noetic-devel --recursive https://github.com/ros/metapackages.git
git clone --recursive https://github.com/ros/ivcon.git
git clone --recursive https://github.com/ros/convex_decomposition.git
git clone --recursive https://github.com/ros/message_generation.git
git clone --recursive https://github.com/ros/message_runtime.git

git clone --recursive https://github.com/ros/cheatsheet.git
git clone --recursive https://github.com/ros/rosbag_image_compressor.git
git clone --recursive https://github.com/ros-visualization/rqt.git
git clone --recursive https://github.com/ros-visualization/rqt_action.git
git clone --recursive https://github.com/ros-visualization/rqt_bag.git
git clone --recursive https://github.com/ros-visualization/rqt_common_plugins.git
git clone --recursive https://github.com/ros-visualization/rqt_console.git
git clone --recursive https://github.com/ros-visualization/rqt_dep.git
git clone --recursive https://github.com/ros-visualization/rqt_graph.git
git clone --recursive https://github.com/ros-visualization/rqt_image_view.git
git clone --recursive https://github.com/ros-visualization/rqt_launch.git
git clone --recursive https://github.com/ros-visualization/rqt_logger_level.git
git clone --recursive https://github.com/ros-visualization/rqt_moveit.git
git clone --recursive https://github.com/ros-visualization/rqt_msg.git
git clone --recursive https://github.com/ros-visualization/rqt_nav_view.git
git clone --recursive https://github.com/ros-visualization/rqt_publisher.git
git clone --recursive https://github.com/ros-visualization/rqt_py_console.git
git clone --recursive https://github.com/ros-visualization/rqt_reconfigure.git
git clone --recursive https://github.com/ros-visualization/rqt_robot_dashboard.git
git clone --recursive https://github.com/ros-visualization/rqt_robot_monitor.git
git clone --recursive https://github.com/ros-visualization/rqt_robot_plugins.git
git clone --recursive https://github.com/ros-visualization/rqt_robot_steering.git
git clone --recursive https://github.com/ros-visualization/rqt_runtime_monitor.git
git clone -b melodic-devel --recursive https://github.com/ros-visualization/rqt_rviz.git
git clone --recursive https://github.com/ros-visualization/rqt_service_caller.git
git clone --recursive https://github.com/ros-visualization/rqt_shell.git
git clone --recursive https://github.com/ros-visualization/rqt_srv.git
git clone --recursive https://github.com/ros-visualization/rqt_tf_tree.git
git clone --recursive https://github.com/ros-visualization/rqt_top.git
git clone --recursive https://github.com/ros-visualization/rqt_topic.git
git clone --recursive https://github.com/ros-visualization/rqt_web.git
git clone --recursive https://github.com/ros-visualization/rqt_plot.git
git clone --recursive https://github.com/ros-visualization/rqt_pose_view.git
git clone --recursive https://github.com/ros-visualization/rviz.git
git clone --recursive https://github.com/ros-visualization/visualization_tutorials.git
git clone --recursive https://github.com/ros-visualization/executive_smach_visualization.git
git clone -b melodic-devel --recursive https://github.com/ros-visualization/qt_gui_core.git
git clone -b melodic-devel --recursive https://github.com/ros-visualization/python_qt_binding.git
git clone --recursive https://github.com/ros-visualization/interactive_markers.git

git clone -b 1.2.2 --recursive https://github.com/ros-visualization/interactive_marker_twist_server.git
git clone --recursive https://github.com/ros-visualization/qwt_dependency.git
git clone -b noetic-devel --recursive https://github.com/ros-visualization/rviz_animated_view_controller.git
git clone -b noetic-devel --recursive https://github.com/ros-visualization/view_controller_msgs.git
git clone --recursive https://github.com/ros-visualization/gl_dependency.git

git clone -b noetic --recursive https://github.com/ros-perception/vision_opencv.git
git clone --recursive https://github.com/ros-visualization/webkit_dependency.git
git clone --recursive https://github.com/ros/rosbag_migration_rule.git
git clone --recursive https://github.com/ros-perception/image_common.git
git clone --recursive https://github.com/ros-perception/laser_geometry.git
git clone --recursive https://github.com/ros/media_export.git
git clone --recursive https://github.com/ros-planning/navigation_msgs.git
git clone --recursive https://github.com/ros/resource_retriever.git

git clone --recursive https://github.com/ros-drivers/libuvc_ros.git
git clone --recursive https://github.com/ros-perception/pcl_msgs.git
git clone --recursive https://github.com/ros-perception/image_pipeline.git
git clone -b melodic-devel --recursive https://github.com/ros-perception/perception_pcl.git
git clone -b 1.4.1 --recursive https://github.com/ros-perception/pointcloud_to_laserscan.git
git clone --recursive https://github.com/ros-perception/depthimage_to_laserscan.git
git clone --recursive https://github.com/ros-perception/slam_gmapping.git
git clone -b noetic-devel --recursive https://github.com/ros-perception/image_transport_plugins.git
git clone --recursive https://github.com/ros-perception/imu_pipeline.git
git clone -b noetic-devel --recursive https://github.com/ros-perception/laser_filters.git
git clone -b noetic-devel --recursive https://github.com/ros-perception/laser_assembler.git
git clone --recursive https://github.com/ros-perception/vision_msgs.git
git clone -b noetic-devel --recursive https://github.com/ros-perception/calibration.git
git clone --recursive https://github.com/jsk-ros-pkg/jsk_roseus.git
git clone --recursive https://github.com/ros-perception/image_common.git
git clone --recursive https://github.com/ros/roslisp_common.git

git clone --recursive https://github.com/ros-simulation/gazebo_ros_pkgs.git

git clone --recursive https://github.com/libjpeg-turbo/libjpeg-turbo.git
git clone -b noetic-devel --recursive https://github.com/ros-visualization/view_controller_msgs.git
git clone --recursive https://github.com/rdiankov/collada-dom.git
git clone --recursive https://github.com/tork-a/euslisp-release.git
git clone -b melodic-devel  --recursive https://github.com/ros-controls/control_toolbox.git
git clone -b noetic-devel --recursive https://github.com/ros-controls/ros_control.git
git clone -b noetic-devel --recursive https://github.com/ros-controls/ros_controllers.git	
git clone -b noetic-devel --recursive https://github.com/ros-controls/realtime_tools.git
git clone --recursive https://github.com/ros-drivers/four_wheel_steering_msgs.git
git clone -b kinetic-devel  --recursive https://github.com/ros-controls/urdf_geometry_parser.git
注意：其中jsk_roseus、euslisp-release最后单独编译

四、编译

在ros_noetic目录下，打开终端中输入命令：
 ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release -j2

五、下载编译工具(可选)

sudo apt-get install build-essential cmake pkg-config
#安装linusb
sudo apt-get install libusb-1.0-0-dev
#安装turboJPEG
sudo apt-get install libturbojpeg libjpeg-turbo8-dev
#安装OPENNI2
sudo apt-get install libglfw3-dev
#安装OPENCL
sudo apt-get install libopenni2-dev
sudo apt-get install libturbojpeg0-dev

六、编译总结

以上部分是ros1源码编译的简要步骤记录，安装过程中也遇到了一些问题，例如boost库问题适配问题。
最后，编译完成后，可以运行roscore、 rosrun、gazebo、rviz等命令。
[源码下载链接，见地址](https://download.csdn.net/download/TJXUNwu/87522092?spm=1001.2014.3001.5501)
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