Raspberrypi4+openEuler 将catkin打包成rpm

最新推荐文章于 2024-04-05 10:08:40 发布

Chenjy9581

最新推荐文章于 2024-04-05 10:08:40 发布

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分类专栏： openEuler Raspberrypi4 ROS

本文链接：https://blog.csdn.net/qq_29772939/article/details/119851642

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Raspberrypi4+openEuler 将catkin打包成rpm

本文主要记录自己在新的树莓派上的openEuler 21.03系统上将catkin打包成rpm过程和遇到的问题。

环境

操作系统：openEuler 20.03 LTS
硬件：raspberrypi4+16G SSD

打包流程

打包catkin的理想安装流程如下，不过一般会遇到各种问题。后面也介绍本人在安装过程中遇到的问题及解决办法。

1 下载catkin源码包

# 创建工作空间
cd
mkdir catkin_ws
cd catkin_ws
rosinstall_generator ros_comm --rosdistro melodic --deps --tar > melodic-ros_comm.rosinstall
wstool init -j8 src melodic-ros_comm.rosinstall
catkin_make

2 catkin打包

1 构建准备目录

dnf install rpm-build
mkdir -p ~/rpmbuild/{BUILD,BUILDROOT,RPMS,SOURCES,SPECS,SRPMS}
在pip官网下载打包catkin所需的7个依赖库的tar.gz的源码(catkin_pkg-0.4.23,docutils-0.16.tar.gz,empy-3.3.4.tar.gz,pyparsing-2.4.7.tar.gz，python-dateutil-2.8.1.tar.gz.setuptools_scm-4.1.2.tar.gz,six-1.15.0.tar.gz)。
与catkin源码同级的目录（即catkin_ws/src）下新建一个3rdparty文件夹，将上述7个包解压后放进去

2 源码准备
- 在pip官网下载打包catkin所需的7个依赖库的tar.gz的源码(catkin_pkg-0.4.23,docutils-0.16.tar.gz,empy-3.3.4.tar.gz,pyparsing-2.4.7.tar.gz，python-dateutil-2.8.1.tar.gz.setuptools_scm-4.1.2.tar.gz,six-1.15.0.tar.gz)。
- 与catkin源码同级的目录（即catkin_ws/src）下新建一个3rdparty文件夹，将上述7个包解压后放进去
- 新建一个catkin-0.7.28文件夹，将整个src目录拷贝进去。
- 压缩catkin-0.7.28文件夹
```
tar zcvf catkin-0.7.28.tar.gz catkin-0.7.28/
```
- 将压缩包拷贝至rpmbuild的源码目录下：
```
cp catkin-0.7.28.tar.gz /root/rpmbuild/SOURCES
```

3 spec文件编写
在SPECS目录下，新建一个catkin.spec文件，写入如下指令：

Name:    catkin
Version: 0.7.28
Release: 1
Summary: This is ROS melodic Catkin Package
License: GPL
URL: https://github.com/ros-gbp/catkin-release/archive/release/melodic/catkin
Source0: https://github.com/ros-gbp/catkin-release/archive/release/melodic/catkin-0.7.28.tar.gz
BuildRequires: gcc-c++
BuildRequires: cmake
BuildRequires:python-devel
BuildRequires:python-setuptools

%description
This is ROS melodic Catkin Package include catkin_make, catkin_init_workspace, and so on.



%prep

echo perp_step
pwd

%setup


pwd

%install
rm -rf %{buildroot}

echo install_step
pwd

mkdir -p %{buildroot}/usr/bin/
echo 999


cd src/3rdparty/

cd empy-3.3.4/
python3 setup.py install --user
cd ..

cd six-1.15.0/
python3 setup.py install --user
cd ..

cd setuptools_scm-4.1.2/
python3 setup.py install --user
cd ..

cd python-dateutil-2.8.1/
python3 setup.py install --user
cd ..

cd pyparsing-2.4.7/
python3 setup.py install --user
cd ..

cd docutils-0.16/
python3 setup.py install --user
cd ..

cd catkin_pkg-0.4.23/
python3 setup.py install --user
cd ..

cd ..
pwd

cd ..
pwd

./src/catkin/bin/catkin_make_isolated


pwd

install -m 777 src/catkin/bin/catkin_make %{buildroot}/usr/bin/catkin_make
install -m 777 src/catkin/bin/catkin_find %{buildroot}/usr/bin/catkin_find
install -m 777 src/catkin/bin/catkin_make_isolated %{buildroot}/usr/bin/catkin_make_isolated
install -m 777 src/catkin/bin/catkin_init_workspace %{buildroot}/usr/bin/catkin_init_workspace
install -m 777 src/catkin/bin/catkin_topological_order %{buildroot}/usr/bin/catkin_topological_order
install -m 777 src/catkin/bin/catkin_test_results %{buildroot}/usr/bin/catkin_test_results
echo ==========================================
echo %{buildroot}

mkdir -p %{buildroot}/opt/ros/melodic/
cp -r devel_isolated/* %{buildroot}/opt/ros/melodic/

%files
/opt/ros/melodic/*
/usr/bin/*

3 打包
```
rpmbuild -ba catkin.spec
```

4 安装

cd 
cd rpmbuild/RPMS/aarch64
rpm -ivh catkin-0.7.28-1.aarch64.rpm

安装终端提示如下：

[root@openEuler aarch64]# rpm -ivh catkin-0.7.28-1.aarch64.rpm
Verifying...                          ################################# [100%]
Preparing...                          ################################# [100%]
Updating / installing...
	  1:catkin-0.7.28-1                  ################################# [100%]
[root@openEuler aarch64]# cd /opt/ros/melodic/
catkin/        cmake_modules/ env.sh         setup.bash     setup.sh       setup.zsh      
[root@openEuler aarch64]#

5 验证

目录验证

[root@openEuler aarch64]# cd /opt/ros/melodic/
[root@openEuler melodic]# ll
total 24K
drwxr-xr-x 7 root root 4.0K Aug 21 11:12 catkin
drwxr-xr-x 5 root root 4.0K Aug 21 11:12 cmake_modules
-rwx------ 1 root root  141 Aug 21 11:11 env.sh
-rw-r--r-- 1 root root  146 Aug 21 11:11 setup.bash
-rw-r--r-- 1 root root  353 Aug 21 11:11 setup.sh
-rw-r--r-- 1 root root  144 Aug 21 11:11 setup.zsh
[root@openEuler melodic]#

功能验证

[root@openEuler ~]# source /opt/ros/melodic/setup.bash
[root@openEuler ~]# mkdir -p catkin_ws/src
[root@openEuler ~]# cd catkin_ws/src/
[root@openEuler src]# cd ..
[root@openEuler catkin_ws]# catkin_make
Base path: /root/catkin_ws
Source space: /root/catkin_ws/src
Build space: /root/catkin_ws/build
Devel space: /root/catkin_ws/devel
Install space: /root/catkin_ws/install
Creating symlink "/root/catkin_ws/src/CMakeLists.txt" pointing to "/root/rpmbuild/BUILD/catkin-0.7.28/src/catkin/cmake/toplevel.cmake"
####
#### Running command: "cmake /root/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/root/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/root/catkin_ws/install -G Unix Makefiles" in "/root/catkin_ws/build"
####
-- The C compiler identification is GNU 9.3.1
-- The CXX compiler identification is GNU 9.3.1
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /root/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /root/rpmbuild/BUILD/catkin-0.7.28/devel_isolated/cmake_modules;/root/rpmbuild/BUILD/catkin-0.7.28/devel_isolated/catkin
-- This workspace overlays: /root/rpmbuild/BUILD/catkin-0.7.28/devel_isolated/cmake_modules;/root/rpmbuild/BUILD/catkin-0.7.28/devel_isolated/catkin
-- Found PythonInterp: /usr/bin/python (found version "3.8.5") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using default Python package layout
-- Found PY_em: /root/.local/lib/python3.8/site-packages/em.py  
-- Using empy: /root/.local/lib/python3.8/site-packages/em.py
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /root/catkin_ws/build/test_results
-- Found gtest: gtests will be built
-- Using Python nosetests: /usr/local/bin/nosetests
-- catkin 0.7.29
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- Configuring done
-- Generating done
-- Build files have been written to: /root/catkin_ws/build
####
#### Running command: "make -j4 -l4" in "/root/catkin_ws/build"
####
[root@openEuler catkin_ws]#

问题记录

问题1

缺少 python-devel

[root@openEuler SPECS]# rpmbuild -ba catkin.spec
error: Failed build dependencies:
python-devel is needed by catkin-0.7.28-1.aarch64

解决办法

安装python-devel

dnf install python-devel

问题2

安装python-devel时报错。

Error: Transaction test error:
  file /usr/bin/pip from install of python2-pip-18.0-12.oe1.noarch conflicts with file from package python3-pip-20.3.3-1.oe1.noarch

解决办法

应该是python3 和 python2 冲突导致，安装python2、pip2。

wget https://www.python.org/ftp/python/2.7.14/Python-2.7.14.tgz
tar -xzvf Python-2.7.14.tgz
cd Python-2.7.14
./configure --prefix=/usr/local/python2
make && make install
ln -s /usr/local/python2.7/bin/python2.7 /usr/bin/python2

wget https://files.pythonhosted.org/packages/a4/c8/9a7a47f683d54d83f648d37c3e180317f80dc126a304c45dc6663246233a/setuptools-36.5.0.zip
unzip ./setuptools-36.5.0.zip
cd setuptools-36.5.0
python2 setup.py install


wget https://files.pythonhosted.org/packages/69/81/52b68d0a4de760a2f1979b0931ba7889202f302072cc7a0d614211bc7579/pip-18.0.tar.gz
tar xzvf pip-18.0.tar.gz 
cd pip-18.0
python2 setup.py install

问题3

依赖包下载失败

[ros_comm/rostest] Done.
Exception caught during install: Error processing 'genpy' : [genpy] Checkout of https://github.com/ros-gbp/genpy-release/archive/release/melodic/genpy/0.6.16-1.tar.gz version genpy-release-release-melodic-genpy-0.6.16-1 into /root/catkin_ws2/src/genpy failed.
Error processing 'ros/ros' : [ros/ros] Checkout of https://github.com/ros-gbp/ros-release/archive/release/melodic/ros/1.14.9-1.tar.gz version ros-release-release-melodic-ros-1.14.9-1 into /root/catkin_ws2/src/ros/ros failed.
Error processing 'ros/rosmake' : [ros/rosmake] Checkout of https://github.com/ros-gbp/ros-release/archive/release/melodic/rosmake/1.14.9-1.tar.gz version ros-release-release-melodic-rosmake-1.14.9-1 into /root/catkin_ws2/src/ros/rosmake failed.
Error processing 'ros/rosunit' : [ros/rosunit] Checkout of https://github.com/ros-gbp/ros-release/archive/release/melodic/rosunit/1.14.9-1.tar.gz version ros-release-release-melodic-rosunit-1.14.9-1 into /root/catkin_ws2/src/ros/rosunit failed.
Error processing 'ros_comm/message_filters' : [ros_comm/message_filters] Checkout of https://github.com/ros-gbp/ros_comm-release/archive/release/melodic/message_filters/1.14.11-1.tar.gz version ros_comm-release-release-melodic-message_filters-1.14.11-1 into /root/catkin_ws2/src/ros_comm/message_filters failed.
Error processing 'ros_comm/roslz4' : [ros_comm/roslz4] Checkout of https://github.com/ros-gbp/ros_comm-release/archive/release/melodic/roslz4/1.14.11-1.tar.gz version ros_comm-release-release-melodic-roslz4-1.14.11-1 into /root/catkin_ws2/src/ros_comm/roslz4 failed.
Error processing 'ros_comm/rosmaster' : [ros_comm/rosmaster] Checkout of https://github.com/ros-gbp/ros_comm-release/archive/release/melodic/rosmaster/1.14.11-1.tar.gz version ros_comm-release-release-melodic-rosmaster-1.14.11-1 into /root/catkin_ws2/src/ros_comm/rosmaster failed.
Error processing 'ros_comm/rosout' : [ros_comm/rosout] Checkout of https://github.com/ros-gbp/ros_comm-release/archive/release/melodic/rosout/1.14.11-1.tar.gz version ros_comm-release-rel

解决办法

按照提示下载失败的连接下载对应依赖，并解压到src目录下即可。例如：

cd 
cd catkin_ws/src
wget https://github.com/ros-gbp/genpy-release/archive/release/melodic/genpy/0.6.16-1.tar.gz
tar -xzvf genpy-release-release-melodic-genpy-0.6.16-1.tar.gz
mv genpy-release-release-melodic-genpy-0.6.16-1 genpy

问题4

flake8-eradicate版本不符合要求。

Installed /usr/local/lib/python3.8/site-packages/Pygments-2.10.0-py3.8.egg
error: flake8-eradicate 0.4.0 is installed but flake8-eradicate<0.4,>=0.3 is required by {'wemake-python-styleguide'}

解决办法

卸载flake8-eradicate，并重新安装合适版本即可。

pip uninstall flake8-eradicate
wget https://files.pythonhosted.org/packages/b8/db/52198023d8316404d69a43f59b66432dfeb9acc4998af5e433144124ae79/flake8-eradicate-0.3.0.tar.gz
tar flake8-eradicate-0.3.0.tar.gz
cd flake8-eradicate-0.3.0
python3 setup.py install

参考

https://www.cxyzjd.com/article/BBB7788/109014858

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Raspberrypi4+openEuler 将catkin打包成rpm

Raspberrypi4+openEuler 将catkin打包成rpm本文主要记录自己在新的树莓派上的openEuler 21.03系统上将catkin打包成rpm过程和遇到的问题。环境操作系统：openEuler 20.03 LTS硬件：raspberrypi4+16G SSD安装前准备系统镜像下载链接：https://repo.openeuler.org/openEuler-21.03/raspi_img/openEuler-21.03-raspi-aarch64.img新安装的
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