ubuntu22源码安装ros-noetic

参考链接：

https://blog.csdn.net/zyh821351004/article/details/135523056

https://gist.github.com/Meltwin/fe2c15a5d7e6a8795911907f627255e0

瞎折腾才到这一步的，网络环境自己搞定

1、准备工作

1. 这一步是为了下面顺利安装依赖包，修改/etc/apt/sources.list.d/ros-latest.list文件内容为（默认为jammy）：

   deb http://packages.ros.org/ros/ubuntu focal main

2.  安装依赖

   sudo apt-get install python3-rosdep python3-rosinstall-generator python3-vcstools python3-vcstool build-essential

3.  更改rosdep存储库地址，修改/etc/ros/rosdep/sources.list.d/20-default.list如下：

   # os-specific listings first
   yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx
   
   # generic
   #yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
   yaml https://gist.githubusercontent.com/Meltwin/0317ae7481c94da7fd66c3eea8d40740/raw/04f6404249b0430523671410891815e63eadb2fe/base.yaml
   yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
   yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
   gbpdistro https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml fuerte
   
   # newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead
   

4.  执行rosdep update 即可

 2、安装

1. 创建catkin Workspace，安装依赖

   mkdir ./noetic_ws
   cd ./noetic_ws
   rosinstall_generator desktop --rosdistro noetic --deps --tar > noetic-desktop.rosinstall
   mkdir ./src
   vcs import --input noetic-desktop.rosinstall ./src
   rosdep install --from-paths ./src --ignore-packages-from-source --rosdistro noetic -y

2.  构建源码

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

 3、将会遇到的问题

1、可能会遇到的错误与 rosconsole 和 log4cxx 相关：

打开src/rosconsole/src/rosconsole/impl/rosconsole_log4cxx.cpp并将其内容替换为https://raw.githubusercontent.com/ros/rosconsole/9f930c007dd40aa7ede771b8859b529e024d7bfb/src/rosconsole/impl/rosconsole_log4cxx.cpp

 2、可能遇到的错误是 C++ 编译版本。当包想要使用 C++11 编译并使用 C++17 中的对象时，就会出现问题，从下方链接下载脚本后执行 python3 change_cpp.py即可（在noetic_ws目录下）

https://gist.githubusercontent.com/Meltwin/1ee35296d2bb86fee19d639580e3c91f/raw/13b8d626733981cdf58244708e5cba1ee5d87e1c/change_cpp.py

 3、期间编译中断基本都是缺少库的问题，按需下载即可，可以提前下载一些，分享一下我遇到的：

#参考链接里面的安装
sudo apt install  libopencv-dev
sudo apt install  libassimp-dev python3-pyassimp
sudo apt install  libogre-1.12-dev
sudo apt install  libogre1.12.10
sudo apt install  libqt5widgets5  qtcreator qtbase5-dev qt5-qmake cmake
sudo apt install  sip-dev python3-sip-dev python3-pyqt5.sip
sudo apt install  python3-pyqt5.sip python3-pyqt5 pyqt5-dev 
#我遇到的
sudo apt-get install libtinyxml-dev
sudo apt-get install liborocos-kdl-dev
sudo apt-get install liburdfdom-headers-dev
sudo apt-get install liburdfdom-dev
sudo apt-get install libyaml-cpp-dev
sudo apt-get install libturbojpeg-dev
sudo apt-get install libogg-dev
sudo apt-get install libtheora-dev
sudo apt-get install libpoco-dev
sudo apt-get install libtinyxml2-dev
sudo apt-get install liblog4cxx-dev
sudo apt-get install libbz2-dev
sudo apt-get install libgpgme-dev

编译完成提示：<== Finished processing package [188 of 188]: 'xacro'，我这里显示188是因为加入了一些额外需要编译的ros包，至此，source一下，即可使用了，有什么问题可以留言

补充：rqt_bag 命令不可用，可参考下面链接修改src/rqt_bag/src/rqt_bag/timeline_frame.py,重新编译即可使用https://github.com/ros-visualization/rqt_bag/pull/109/commits/6ba817ed1c09c01ea25f4ce6131f5b88c8b9ace3