ros源码下载及编译

Ros1 源码下载及编译

准备工作

Setup your sources.list

Setup your computer to accept software from packages.ros.org.

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

Set up your keys

sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

sudo apt update

Installing bootstrap dependencies

sudo apt-get install python-rosdep python-rosinstall-generator python-vcstool python-rosinstall build-essential

Initializing rosdep

sudo rosdep init
rosdep update

下载

Create a catkin Workspace

mkdir -p ~/ros_catkin_ws/src
cd ~/ros_catkin_ws

Desktop-Full Install:

rosinstall_generator desktop_full --rosdistro melodic --deps --tar > melodic-desktop-full.rosinstall
vcs import src < melodic-desktop-full.rosinstall

Resolving Dependencies

rosdep install --from-paths src --ignore-src --rosdistro melodic -y

Building the catkin Workspace

./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release

导入ros环境

source ~/ros_catkin_ws/install_isolated/setup.bash

一些问题及解决方案

• cn.archive.ubuntu.com:80 (91.189.91.39), connection timed out问题解决

  更换ubuntu源至163

  sudo cp -rfv /etc/apt/sources.list /etc/apt/sources.list.back

  sudo vi /etc/apt/sources.list

  将sources.list内容替换为如下内容

  deb http://mirrors.163.com/ubuntu/ trusty main restricted universe multiverse
  deb http://mirrors.163.com/ubuntu/ trusty-security main restricted universe multiverse
  deb http://mirrors.163.com/ubuntu/ trusty-updates main restricted universe multiverse
  deb http://mirrors.163.com/ubuntu/ trusty-proposed main restricted universe multiverse
  deb http://mirrors.163.com/ubuntu/ trusty-backports main restricted universe multiverse
  deb-src http://mirrors.163.com/ubuntu/ trusty main restricted universe multiverse
  deb-src http://mirrors.163.com/ubuntu/ trusty-security main restricted universe multiverse
  deb-src http://mirrors.163.com/ubuntu/ trusty-updates main restricted universe multiverse
  deb-src http://mirrors.163.com/ubuntu/ trusty-proposed main restricted universe multiverse
  deb-src http://mirrors.163.com/ubuntu/ trusty-backports main restricted universe multiverse

• Cant install python3-pyqt5 on ubuntu 18问题
  执行如下命令

  sudo add-apt-repository universe
  sudo apt-get update
  

一键下载和编译代码脚本：

1、bash download_and_compile.sh workspace_source_dir
2、source workspace_source_dir/devel_isolated/setup.bash

download_and_compile.sh源码

#!/bin/bash

if (($# != 1));then
    echo "Please input one args, ex: bash download_and_compile.sh absolute_workspacr_source_dir"
    exit
fi

echo "the workspace_source_dir:"$1

# Prepare the environment
# Setup your computer to accept software from packages.ros.org.
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

# Set up your keys
sudo apt install curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt update

# Installing bootstrap dependencies
sudo apt-get install python-rosdep python-rosinstall-generator python-vcstool python-rosinstall build-essential

# Initializing rosdep
sudo rosdep init
rosdep update


# Download the source and build it
# Create a catkin Workspace
mkdir -p $1"/src"
cd $1

rosinstall_generator desktop_full --rosdistro melodic --deps --tar > melodic-desktop-full.rosinstall
vcs import src < melodic-desktop-full.rosinstall

rosdep install --from-paths src --ignore-src --rosdistro melodic -y

# compile and build
./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
# source the ros env
source ~/ros_catkin_ws/install_isolated/setup.bash