在win10下安装ros的一些心得

本机配置

win10，1903，安装ros1，最新的是melodic。

安装过程

参考官方安装指南，出现一些错误，比如总是说vcpkg没有安装，再参考github上的issue，其中提供了一些解决办法。

Version is Win 10 Pro 1809 (Build 17763.1098).
shortcut: well … I was stuck at section 5.1 in the installation manual, and that hint to the cmd is in section 6, I just did not continue reading the manual 😄
After all, I figured it out. I completely removed the c:\opt and the c:\ProgramData\chocolately folders to get rid of the crappy installations before. I restarted all steps from section 4, but I used a cmd with the “bypass” option.
Might be a good idea to adapt the manual http://wiki.ros.org/Installation/Windows :
Move section 6 inbetween 3 and 4 and modify it slightly: I removed the last statement (&& c:\opt\ros\melodic\x64\setup.bat), because I did not want the setup.bat to be executed in the steps 4 and 5 already, I just wanted the console with the bypass which worked fine (maybe it would not harm to have setup.bat here already, I do no know). I used that modified cmd for steps in section 4 and 5 and when I reached section 6, I added the “…\setup.bat” part to the link.
Honestly, I do not know why there is a difference between setting “set ChocolateyInstall=…” in the link instead of calling it in the console itself, but on my system that made the difference. Maybe that is a Windows secret 😃
You could add the workaround for vcpkg to section 5.1 (and probably 5.2), so people do no longer need to search this thread. At least it does not harm I think, although it might not be necessary in all cases:
choco upgrade ros-vcpkg -y --execution-timeout=0
It might also be good to add the hint with regard to Powershell path issues that I had. Users should check their User Path variables and add “%SYSTEMROOT%\System32\WindowsPowerShell\v1.0” if it does not exist. That solved my build issues with regard to vcpkg.
That’s it for me …
Chocolatey upgraded 10/10 packages.
See the log for details (c:\opt\chocolatey\logs\chocolatey.log).
Done 😄

经验总结

把上面的话翻译过来就是，在安装好visual studio之后，(visual studio 2019还要装上英语包，就是在visual studio installer里面修改一下，没有英语包，后面的vcpkg装sdl2就会出错，真的很无奈)可以创建一个快捷方式，在执行路径里面填

C:\Windows\System32\cmd.exe /k “C:\Program Files (x86)\Microsoft Visual Studio\2019\Community\Common7\Tools\VsDevCmd.bat” -arch=amd64 -host_arch=amd64&& set ChocolateyInstall=c:\opt\chocolatey

然后设置为管理员权限启动，确定保存之后，再运行，再进行后续的安装命令。这个执行路径在ros全部安装好之后，还要改的，还要在后面增加

&& c:\opt\ros\melodic\x64\setup.bat。

(vcpkg安装的时候，要先cd到vcpkg.exe所在的目录，然后用vcpkg.exe去安装某某软件，比如

vcpkg.exe install sdl2 --triplet x64-windows

建议后面的安装过程，全部在ladder下进行，否则由于国内网不好，dns转发太多次，最后会经常出现readtimeout这样的错误，非常的烦恼。
不知道chocolatey为什么没有国内源，真的很无语，国外的太慢了。官方源对中国非常不友好。而下载的ros的源也没有国内的，清华的tuna只有ubuntu的ros，没有windows10下的，到这里，真的感叹，做开发不要在windows10下面做，还是滚回ubuntu吧，win10真的只能用来娱乐。
整个安装过程，会多次失败，不断的重复尝试吧，大概率都是网络的原因。
ros-vcpkg这个包建议单独用choco安装。
整个过程会有许多安装失败了的，后续可以用choco命令单独装一下，(逐个安装，但是不明白为什么chocolatey装的软件会自动解压到rosdep中去？很奇怪，难道是当前命令行的环境的原因吗？)然后再重新装ros-melodic-desktop_full。
安装好后，更改前面创建的快捷方式。然后用roscore测试安装是否成功。
说实话，虽然我写完了，但是我直到现在还没装好，已经折腾了两天了。开发还是用ubuntu吧，win10真的搞不定。
整个安装过程大致是：先装python27相关的包，然后装rosdep里面的包，间隔还会装一些python的包，总的来说，包还是相当多的，要有耐心装下去，我装了两天，今天下午终于装好了，玩了一会儿小乌龟，不过也很没劲。装好了的感觉，还是很爽的，不管怎么样，都是能搞定的，对么！

如何使用vscode进行ros开发？

继续发扬折腾的精神！
在win10下，如何实现在vscode中进行ros开发？首先在vscode中装好插件：ROS，然后打开前面设置好的快捷方式终端，在终端里输入

code <你的catkin workspace>

workspace里面的文件组织参考这里。
此时，vscode所运行的环境中就有ros了，就可以参考这里的命令，按ctrl+shift+P，然后键入相关命令，比如设置

ros.updateCppProperties

它用来Update the C++ include path to include ROS，然后你就可以愉快的开发ROS了。

references

https://github.com/microsoft/vcpkg/issues/6617

https://zhuanlan.zhihu.com/p/101971604

https://github.com/ms-iot/ROSOnWindows/issues/203

https://zhuanlan.zhihu.com/p/26007106

https://github.com/ms-iot/ROSOnWindows/issues/203