[ROS2 Foxy]#1.1 ROS2安装

[ROS2 Foxy]#1.1 ROS2安装

参考

官网教程:https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Binary.html
https://blog.csdn.net/HikFF/article/details/120889338

🖥️环境配置:

1. 硬件: 树莓派 4B -4G
2. 操作系统Ubuntu Linux Focal Fossa (20.04) 64-bit ARM server版本
3. ROS版本:ROS 2 Foxy Fitzroy🦊

📁 添加 ROS 2 的apt repository

在安装前先要添加ROS2 的apt repository到本地系统

1. 首先获取GPG的秘钥授权,执行以下command:

   sudo apt update && sudo apt install curl gnupg2 lsb-release
   sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
   

2. 添加库到源列表(sources list),执行以下command

   echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
   

⏬ Download

📩下载地址:https://github.com/ros2/ros2/releases

从以上下载地址选择自己需要的版本,以下以**ros2-foxy-20211013-linux-focal-arm64.tar.bz2为例**

由于我是在Windows端下载的,所以需要传到树莓派上的Ubuntu,直接下载到Ubuntu可以跳过第2步:

1. 在Ubuntu 上先建立ros的路径,安装包将上传并解压到该路径下

   mkdir -p ~/ros2_foxy
   cd ~/ros2_foxy
   

2. 上传ROS的release安装包.Windows端上,在文件管理器里找到安装包所在路径,按 shift 同时右键点击空白处,点击在此处打开powershel窗口,执行一下command:(请根据自己的情况修改指令 参数)

   scp ros2-foxy-20211013-linux-focal-arm64.tar.bz2 ubuntu@192.168.0.16:~/ros2_foxy
   

3. 解压.在Ubuntu端解压ROS的安装包,

   在第1步后,执行以下command:

   tar xf ros2-foxy-20211013-linux-focal-arm64.tar.bz2
   

   等待解压完成.

🏗️安装ROS 2

🏗️安装rosdep:

执行以下command安装并初始化rosdep

sudo apt update
sudo apt install -y python3-rosdep
sudo rosdep init
rosdep update

• 以上command执行时出现timeout的报错可以通过参考以下链接尝试解决,

  https://blog.csdn.net/HikFF/article/details/120889338

  报错原因最主要是因为 the wall

🏗️安装缺少的依赖(dependencies)

官网教程上写的指令如下:

rosdep install --from-paths ~/ros2_foxy/ros2-linux/share --ignore-src -y --skip-keys "cyclonedds fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers"

执行时出现以下报错⚠️:

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies (ROS distro is not set. Make sure `ROS_DISTRO` environment variable is set, or use `--rosdistro` option to specify the distro, e.g. `--rosdistro indigo`):
rosidl_typesupport_c: Cannot locate rosdep definition for [rosidl_typesupport_connext_c]
rosidl_typesupport_cpp: Cannot locate rosdep definition for [rosidl_typesupport_connext_cpp]
rosidl_generator_py: Cannot locate rosdep definition for [rosidl_typesupport_connext_c]
rmw_implementation: Cannot locate rosdep definition for [rmw_connext_cpp]

原因是报错列出来的库无法在本地定位到,暂时没找到解决方法,将报错的库的key填写到 skip keys里command执行成功,command如下:

rosdep install --from-paths ~/ros2_foxy/ros2-linux/share --ignore-src -y --skip-keys "cyclonedds fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers rosidl_typesupport_connext_cpp rosidl_typesupport_connext_c rmw_connext_cpp"

🏗️安装Python3 libraries

command如下:

sudo apt install -y libpython3-dev python3-pip
pip3 install -U argcomplete

💡测试一下

ROS2 在运行任何程序前,先要起一下ROS2 的环境即Workspace,command如下(注意修改为自己的安装目录):

. ~/ros2_foxy/ros2-linux/setup.bash

测试时间🕐:

1. 首先启动一个终端,运行 talker ,commad如下:

   . ~/ros2_foxy/ros2-linux/setup.bash
   ros2 run demo_nodes_cpp talker
   

2. 再另外启动一个终端,运行 listener,command如下:

   . ~/ros2_foxy/ros2-linux/setup.bash
   ros2 run demo_nodes_py listener
   

3.最终结果如下则成功:

最终结果如上说明安装成功