ros2上怎样才能玩rmf？

环境

日期：2022/4/22
ubuntu版本：20.4
ros2版本：foxy (源码下载)
gcc：9
python:3.8
官网上说用Galactic版本的ros2更好，一开始我就用的Galactic，期间遇到了很多错误，我就想换个版本试试吧，结果很快成功编译了，这里有可能是笔者才疏学浅不知道怎么build，也可能是官方未对新版本适配，反正现在是可以了。hhh

1.设置gazebo库

sudo apt update
sudo apt install -y wget
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -

2.从源码开始构建

官网显示可以通过Demos安装一个简化版本，这里介绍完整版的内容
1.下载依赖项：

此处不要下载rmf！


sudo apt update && sudo apt install \
  git cmake python3-vcstool curl \
  qt5-default \
  -y
python3 -m pip install flask-socketio
sudo apt-get install python3-colcon*

2.下载 rosdep

sudo apt install python3-rosdep
sudo rosdep init
rosdep update

3.下载源码（这一部分极其重要！）

mkdir -p ~/rmf_ws/src
cd ~/rmf_ws
wget https://raw.githubusercontent.com/open-rmf/rmf/main/rmf.repos

这是下载的rmf.repos内容：

repositories:
  rmf/rmf_battery:
    type: git
    url: https://github.com/open-rmf/rmf_battery.git
    version: main
  rmf/rmf_internal_msgs:
    type: git
    url: https://github.com/open-rmf/rmf_internal_msgs.git
    version: main
  rmf/rmf_api_msgs:
    type: git
    url: https://github.com/open-rmf/rmf_api_msgs.git
    version: main
  rmf/rmf_ros2:
    type: git
    url: https://github.com/open-rmf/rmf_ros2.git
    version: main
  rmf/rmf_task:
    type: git
    url: https://github.com/open-rmf/rmf_task.git
    version: main
  rmf/rmf_traffic:
    type: git
    url: https://github.com/open-rmf/rmf_traffic.git
    version: main
  rmf/rmf_utils:
    type: git
    url: https://github.com/open-rmf/rmf_utils.git
    version: main
  rmf/ament_cmake_catch2:
    type: git
    url: https://github.com/open-rmf/ament_cmake_catch2.git
    version: main
  rmf/rmf_visualization:
    type: git
    url: https://github.com/open-rmf/rmf_visualization.git
    version: main
  rmf/rmf_visualization_msgs:
    type: git
    url: https://github.com/open-rmf/rmf_visualization_msgs.git
    version: main
  rmf/rmf_building_map_msgs:
    type: git
    url: https://github.com/open-rmf/rmf_building_map_msgs.git
    version: main
  rmf/rmf_simulation:
    type: git
    url: https://github.com/open-rmf/rmf_simulation.git
    version: main
  rmf/rmf_traffic_editor:
    type: git
    url: https://github.com/open-rmf/rmf_traffic_editor.git
    version: main
  demonstrations/rmf_demos:
    type: git
    url: https://github.com/open-rmf/rmf_demos.git
    version: main
  thirdparty/menge_vendor:
    type: git
    url: https://github.com/open-rmf/menge_vendor.git
    version: master
  thirdparty/nlohmann_json_schema_validator_vendor:
    type: git
    url: https://github.com/open-rmf/nlohmann_json_schema_validator_vendor.git
    version: main
  thirdparty/pybind11_json_vendor:
    type: git
    url: https://github.com/open-rmf/pybind11_json_vendor.git
    version: main
  thirdparty/ros_ign:
    type: git
    url: https://github.com/ignitionrobotics/ros_ign.git
    version: ros2

我对其稍微进行了更改：

repositories:
  rmf/rmf_battery:
    type: git
    url: https://github.com/open-rmf/rmf_battery.git
    version: main
  rmf/rmf_internal_msgs:
    type: git
    url: https://github.com/open-rmf/rmf_internal_msgs.git
    version: main
  rmf/rmf_api_msgs:
    type: git
    url: https://github.com/open-rmf/rmf_api_msgs.git
    version: main
  rmf/rmf_ros2:
    type: git
    url: https://github.com/open-rmf/rmf_ros2.git
    version: main
  rmf/rmf_task:
    type: git
    url: https://github.com/open-rmf/rmf_task.git
    version: main
  rmf/rmf_traffic:
    type: git
    url: https://github.com/open-rmf/rmf_traffic.git
    version: main
  rmf/rmf_utils:
    type: git
    url: https://github.com/open-rmf/rmf_utils.git
    version: main
  rmf/ament_cmake_catch2:
    type: git
    url: https://github.com/open-rmf/ament_cmake_catch2.git
    version: main
  rmf/rmf_visualization:
    type: git
    url: https://github.com/open-rmf/rmf_visualization.git
    version: main
  rmf/rmf_visualization_msgs:
    type: git
    url: https://github.com/open-rmf/rmf_visualization_msgs.git
    version: main
  rmf/rmf_building_map_msgs:
    type: git
    url: https://github.com/open-rmf/rmf_building_map_msgs.git
    version: main
  rmf/rmf_simulation:
    type: git
    url: https://github.com/open-rmf/rmf_simulation.git
    version: main
  rmf/rmf_traffic_editor:
    type: git
    url: https://github.com/open-rmf/rmf_traffic_editor.git
    version: 1.3.0
  demonstrations/rmf_demos:
    type: git
    url: https://github.com/open-rmf/rmf_demos.git
    version: main
  thirdparty/menge_vendor:
    type: git
    url: https://github.com/open-rmf/menge_vendor.git
    version: master
  thirdparty/nlohmann_json_schema_validator_vendor:
    type: git
    url: https://github.com/open-rmf/nlohmann_json_schema_validator_vendor.git
    version: main
  thirdparty/pybind11_json_vendor:
    type: git
    url: https://github.com/open-rmf/pybind11_json_vendor.git
    version: main
  thirdparty/ros_ign:
    type: git
    url: https://github.com/ignitionrobotics/ros_ign.git
    version: foxy

然后下载就可以了！

vcs import src < rmf.repos

编译

编译的时候报错：ignition-gazebo3Config 这个玩意没有
所以：

 sudo apt install ros-foxy-ros-ign

之后就没有报错了。
现在就可以编译了：

cd ~/rmf_ws
rosdep install --from-paths src --ignore-src --rosdistro galactic -y
source /opt/ros/galactic/setup.bash
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

成功！

可以开心的学习rmf了！希望看到这里的小伙伴都可以编译成功！
rmf网站：

https://github.com/open-rmf/rmf_demos/tree/main
https://osrf.github.io/ros2multirobotbook/intro.html

以上内容参考：
https://github.com/open-rmf/rmf/tree/main