openEuler下移植ROS Melodic运行时环境

最新推荐文章于 2023-04-24 13:17:57 发布

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最新推荐文章于 2023-04-24 13:17:57 发布

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任务动机：在openEuler下移植ROS Melodic运行时环境，为openEuler研发ROS repo创建原型。

任务描述：在openEuler下分步骤手工编译安装ros-comm，ros-desktop和ros-destopfull，由于openEuler 20.03 LTS暂不支持桌面，因此gui相关的ros包安装本任务略过。

1. 环境

操作系统版本：openEuler 20.03 LTS

内核版本：4.19.90-2003.4.0.0036

硬件：raspberrypi4+16G SSD

最新镜像

openEuler 20.03 LTS 的内测版本镜像，下载。

openEuler 20.03 + ROS Melodic Desktopfull + SLAM + Navigation raspberrypi4镜像，下载。提取码781g

刷镜像(第2条命令可能不自动跳出终止，不影响使用。拷贝完成的标志是15G的分区能访问，且已有文件。已验证)

$ sudo umount /dev/sdb1 /dev/sdb2 /dev/sdb3
$ gzip -dc openeuler.gz | sudo dd of=/dev/sdb

$ cat ~/.bashrc

source /root/devel_isolated/setup.bash
source /root/ws/devel/setup.bash                         #gmapping
source /root/ws1/devel/setup.bash                        #navigation
LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib64   

export ROS_MASTER_URI=http://127.0.0.1:11311
export ROS_HOSTNAME=127.0.0.1

该镜像的基本信息：

更新日志
发布时间：2020-05-11
大小：245 MiB
操作系统版本：openEuler 20.03 LTS
内核版本：4.19.90-2003.4.0.0036
固件来源：firmware、bluez-firmware、firmware-nonfree
构建文件系统的源仓库：openEuler-20.03-LTS
镜像内置源仓库：openEuler 20.03 LTS 源仓库

2. openEuler安装和配置

2.1 实验环境

Windows10/Linux/Mac
树莓派 3B/3B+/4B
16G 以上的 Micro SD 卡

2.2获取树莓派 img 镜像

下载适配树莓派的最新 openEuler 镜像，下面以 XXX.img 表示该镜像。

2.3 刷机操作

Windows 环境

2.3.1 格式化 SD 卡

下载应用：SDFormater，用于格式化 SD 卡。

若 SD 卡之前未安装过镜像，盘符正常只有一个，选择 SD 卡对应盘符，直接格式化即可；

若 SD 卡之前安装过镜像，盘符会有三个，选择 SD 卡对应盘符（图例中为 E: 盘），格式化即可：

2.3.2 写入 SD 卡

下载应用：Win32 Disk Imager。
右键选择“以管理员身份运行”，打开 Win32 Disk Imager，选择镜像 img 文件和待写入的 SD 卡，点击【写入/Write】。

写入完成即可。

写入成功后，SD 卡自动分区后的盘符为：

2.4 树莓派配置

版本要求：树莓派 3B/3B+/4B。

默认用户名：root，密码：openeuler。

将刷好的 SD 卡插入树莓派，通电启用。树莓派正常启动，还需连接网线至局域网。

由于使用树莓派时，大多都使用 ssh 远程连接；在树莓派启动联网时，无法得知其 IP 地址。

有以下两种方式：

如果树莓派连接已知路由器，可登录路由器管理，新增的 IP 即为树莓派 IP：

将树莓派连接显示器，需注意，树莓派视频输出接口为 Micro HDMI

连接显示器后，直接用户名/密码登录，登录成功后，树莓派即显示本机相关信息，包括本机 IP。如下图（ssh 登录也显示这些信息）：

配置无线网络

$ nmtui

添加用户

$ useradd -d /home/xbot -m xbot
$ passwd xbot

2.4.1 根目录分区扩展

默认根目录分区空间比较小，在使用之前，需要对分区进行扩容。

2.4.1.1 查看磁盘分区信息

fdisk -l

获取 SD 卡磁盘信息，例如 SD 卡对应磁盘为 /dev/mmcblk0。openEuler 镜像包括 3 个分区，分别为

引导分区 /dev/mmcblk0p1
交换分区 /dev/mmcblk0p2
根目录分区 /dev/mmcblk0p3

这里我们需要将根目录分区进行扩容。

2.4.1.2 分区扩容

2.4.1.2.1 操作磁盘 /dev/mmcblk0

fdisk /dev/mmcblk0

2.4.1.2.2 查看当前分区情况

p

记录下分区 /dev/mmcblk0p3 的起始扇区号，这里记为 xxx。

2.4.1.2.3 删除分区 /dev/mmcblk0p3

d

2.4.1.2.4 选择要删除的分区序号

回车（默认为 3）或输入 3

2.4.1.2.5 创建新的分区

n

2.4.1.2.6 选择创建分区类型

回车（默认为 p）或输入 p

2.4.1.2.7 选择要创建的分区序号

回车（默认为 3）或输入 3

2.4.1.2.8 输入新分区的起始扇区号（下图为1593344）

注意！！！不要直接输入回车或使用默认参数。这是需要输入删除分区 /dev/mmcblk0p3 之前查看到的的起始扇区号。

xxx，上图是16G的SSD，/dev/mmcblk0p3的起始扇区为1593344

2.4.1.2.9 输入新分区的终止扇区号

回车

取默认的最后一个扇区号。

2.4.1.2.10 是否修改扇区标记

N

不修改。

2.4.1.2.11 保存并退出

w

该操作结束后，使用 fdisk -l 命令可以看到 /dev/mmcblk0p3 大小已经扩展。但是通过 df -lh 可以看到根目录大小没有变化。

2.4.1.2.12 增大未加载的文件系统大小

resize2fs /dev/mmcblk0p3

如果该命令失败，可通过命令 reboot 重启树莓派之后再执行 resize2fs /dev/mmcblk0p3。

该操作结束后，通过 df -lh 可以看到根目录大小已经扩展。

至此，根目录分区扩容结束。扩容过程见下图：

3. ROS安装准备

3.1 设置repo

后续安装需要两个repo来回切换，需要编辑如下文件

$ vim /etc/yum.repos.d/openEuler-20.03-LTS.repo

设置成 oe-repo的内容

[eveything]
name=everything
baseurl=https://mirrors.huaweicloud.com/openeuler/openEuler-20.03-LTS/everything/$basearch
enabled=1
gpgcheck=0

[epol]
name=epol
baseurl=https://mirrors.huaweicloud.com/openeuler/openEuler-20.03-LTS/EPOL/$basearch
enabled=1
gpgcheck=0

[fedora29]
name=fed
baseurl=http://mirrors.aliyun.com/fedora/releases/29/Everything/aarch64/os/
enabled=0
gpgcheck=0

设置成 fed-repo的内容

[eveything]
name=everything
baseurl=https://mirrors.huaweicloud.com/openeuler/openEuler-20.03-LTS/everything/$basearch
enabled=0
gpgcheck=0

[epol]
name=epol
baseurl=https://mirrors.huaweicloud.com/openeuler/openEuler-20.03-LTS/EPOL/$basearch
enabled=0
gpgcheck=0

[fedora29]
name=fed
baseurl=http://mirrors.aliyun.com/fedora/releases/29/Everything/aarch64/os/
enabled=1
gpgcheck=0

3.2 设置/etc/hosts

添加raw.githubusercontent.com中国镜像站点（镜像站点IP会经常更新）

$ vim /etc/hosts

151.101.76.133      raw.githubusercontent.com

3.3 添加pip镜像站点

$ mkdir ~/.pip
$ vim ~/.pip/pip.conf

[global]
index-url = https://pypi.tuna.tsinghua.edu.cn/simple

3.4 OVERRIDE操作系统信息

$ export ROS_OS_OVERRIDE=centos:7.6

4. 安装ROS

官方源码安装指导

4.1 安装依赖

设置成 oe-repo，安装如下包

$ dnf install python2-sip-devel llvm

设置成 fed-repo，安装如下包

$ dnf install pcl-devel

设置成 oe-repo，安装如下包

$ dnf install yum
$ pip install rosdep wstool rosinstall_generator

4.2 rosdep准备

初始化

$ rosdep init

使ros识别不同发行版依赖的真实包名

编辑base-openeuler.yaml

$ vim /etc/ros/rosdep/base-openeuler.yaml

设置内容

libboost-filesystem-dev:
  rhel: [boost-devel]
libboost-thread-dev:
  rhel: [boost-devel]  
libjpeg:
  rhel: [libjpeg-turbo]  
python-rospkg:
  rhel:
    pip:
      packages: [rospkg]
python-setuptools:
  rhel:
    pip:
      packages: [setuptools]
python-gnupg:
  rhel:
    pip:
      packages: [gnupg]
python-catkin-pkg-modules:
  rhel:
    pip:
      packages: [catkin-pkg]
python-catkin-pkg:
  rhel:
    pip:
      packages: [catkin-pkg]  
python-rosdep:
  rhel:
    pip:
      packages: [rosdep]

编辑10-openeuler.list

$ vim /etc/ros/rosdep/sources.list.d/10-openeuler.list

设置内容

yaml file:///etc/ros/rosdep/base-openeuler.yaml

更新

$ rosdep update

4.3 安装Desktop-Full：源码准备

$ rosinstall_generator desktop_full --rosdistro melodic --deps --tar > melodic-desktop-full.rosinstall
$ wstool init -j8 src melodic-desktop-full.rosinstall

4.4 安装Desktop-Full：rosdep自动安装依赖包

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

这里，用 -r 强制让rosdep忽略错误信息继续安装找到的包。不过折腾完pcl包后，rosdep好像没有能安装的了。

可以忽略如下的找不到部分包等信息

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
python_qt_binding: No definition of [python-qt5-bindings] for OS [rhel]
rviz: No definition of [libogre-dev] for OS [rhel]
gl_dependency: No definition of [python-qt5-bindings-gl] for OS [rhel]
webkit_dependency: No definition of [python-qt5-bindings-webkit] for OS [rhel]
qt_gui: No definition of [tango-icon-theme] for OS [rhel]
gazebo_dev: No definition of [libgazebo9-dev] for OS [rhel]

最后提示有未能安装的包

用pip安装一下如下包 (pygraphviz 安装不了，忽略了)

$ pip install numpy
$ pip install matplotlib empy netifaces pycryptodomex defusedxml pydot PyOpenGL

设置成fed-repo，安装如下包

$ dnf remove tinyxml
$ dnf install tinyxml-devel poco-devel opencv-devel opencv-python eigen3-devel sbcl urdfdom-devel hddtemp log4cxx-devel

fedora29的tinyxml可以用，oe的tinyxml不能用

设置成oe-repo，补充其他包

$ dnf install boost-python2-devel 
$ dnf groupinstall "Development Tools"

其他

$ ln -s /usr/include/eigen3/Eigen /usr/include/Eigen 
$ cp /usr/lib64/pkgconfig/yaml-cpp-dynamic.pc /usr/lib64/pkgconfig/yaml-cpp.pc

$ vim /usr/include/tinystr.h

设置如下内容

/*
www.sourceforge.net/projects/tinyxml

This software is provided 'as-is', without any express or implied
warranty. In no event will the authors be held liable for any
damages arising from the use of this software.

Permission is granted to anyone to use this software for any
purpose, including commercial applications, and to alter it and
redistribute it freely, subject to the following restrictions:

1. The origin of this software must not be misrepresented; you must
not claim that you wrote the original software. If you use this
software in a product, an acknowledgment in the product documentation
would be appreciated but is not required.

2. Altered source versions must be plainly marked as such, and
must not be misrepresented as being the original software.

3. This notice may not be removed or altered from any source
distribution.
*/


#ifndef TIXML_USE_STL

#ifndef TIXML_STRING_INCLUDED
#define TIXML_STRING_INCLUDED

#include <assert.h>
#include <string.h>

/*  The support for explicit isn't that universal, and it isn't really
    required - it is used to check that the TiXmlString class isn't incorrectly
    used. Be nice to old compilers and macro it here:
*/
#if defined(_MSC_VER) && (_MSC_VER >= 1200 )
    // Microsoft visual studio, version 6 and higher.
    #define TIXML_EXPLICIT explicit
#elif defined(__GNUC__) && (__GNUC__ >= 3 )
    // GCC version 3 and higher.s
    #define TIXML_EXPLICIT explicit
#else
    #define TIXML_EXPLICIT
#endif


/*
   TiXmlString is an emulation of a subset of the std::string template.
   Its purpose is to allow compiling TinyXML on compilers with no or poor STL support.
   Only the member functions relevant to the TinyXML project have been implemented.
   The buffer allocation is made by a simplistic power of 2 like mechanism : if we increase
   a string and there's no more room, we allocate a buffer twice as big as we need.
*/
class TiXmlString
{
  public :
    // The size type used
    typedef size_t size_type;

    // Error value for find primitive
    static const size_type npos; // = -1;


    // TiXmlString empty constructor
    TiXmlString () : rep_(&nullrep_)
    {
    }

    // TiXmlString copy constructor
    TiXmlString ( const TiXmlString & copy) : rep_(0)
    {
        init(copy.length());
        memcpy(start(), copy.data(), length());
    }

    // TiXmlString constructor, based on a string
    TIXML_EXPLICIT TiXmlString ( const char * copy) : rep_(0)
    {
        init( static_cast<size_type>( strlen(copy) ));
        memcpy(start(), copy, length());
    }

    // TiXmlString constructor, based on a string
    TIXML_EXPLICIT TiXmlString ( const char * str, size_type len) : rep_(0)
    {
        init(len);
        memcpy(start(), str, len);
    }

    // TiXmlString destructor
    ~TiXmlString ()
    {
        quit();
    }

    TiXmlString& operator = (const char * copy)
    {
        return assign( copy, (size_type)strlen(copy));
    }

    TiXmlString& operator = (const TiXmlString & copy)
    {
        return assign(copy.start(), copy.length());
    }


    // += operator. Maps to append
    TiXmlString& operator += (const char * suffix)
    {
        return append(suffix, static_cast<size_type>( strlen(suffix) ));
    }

    // += operator. Maps to append
    TiXmlString& operator += (char single)
    {
        return append(&single, 1);
    }

    // += operator. Maps to append
    TiXmlString& operator += (const TiXmlString & suffix)
    {
        return append(suffix.data(), suffix.length());
    }


    // Convert a TiXmlString into a null-terminated char *
    const char * c_str () const { return rep_->str; }

    // Convert a TiXmlString into a char * (need not be null terminated).
    const char * data () const { return rep_->str; }

    // Return the length of a TiXmlString
    size_type length () const { return rep_->size; }

    // Alias for length()
    size_type size () const { return rep_->size; }

    // Checks if a TiXmlString is empty
    bool empty () const { return rep_->size == 0; }

    // Return capacity of string
    size_type capacity () const { return rep_->capacity; }


    // single char extraction
    const char& at (size_type index) const
    {
        assert( index < length() );
        return rep_->str[ index ];
    }

    // [] operator
    char& operator [] (size_type index) const
    {
        assert( index < length() );
        return rep_->str[ index ];
    }

    // find a char in a string. Return TiXmlString::npos if not found
    size_type find (char lookup) const
    {
        return find(lookup, 0);
    }

    // find a char in a string from an offset. Return TiXmlString::npos if not found
    size_type find (char tofind, size_type offset) const
    {
        if (offset >= length()) return npos;

        for (const char* p = c_str() + offset; *p != '\0'; ++p)
        {
           if (*p == tofind) return static_cast< size_type >( p - c_str() );
        }
        return npos;
    }

    void clear ()
    {
        //Lee:
        //The original was just too strange, though correct:
        //  TiXmlString().swap(*this);
        //Instead use the quit & re-init:
        quit();
        init(0,0);
    }

    /*  Function to reserve a big amount of data when we know we'll need it. Be aware that this
        function DOES NOT clear the content of the TiXmlString if any exists.
    */
    void reserve (size_type cap);

    TiXmlString& assign (const char* str, size_type len);

    TiXmlString& append (const char* str, size_type len);

    void swap (TiXmlString& other)
    {
        Rep* r = rep_;
        rep_ = other.rep_;
        other.rep_ = r;
    }

  private:

    void init(size_type sz) { init(sz, sz); }
    void set_size(size_type sz) { rep_->str[ rep_->size = sz ] = '\0'; }
    char* start() const { return rep_->str; }
    char* finish() const { return rep_->str + rep_->size; }

    struct Rep
    {
        size_type size, capacity;
        char str[1];
    };

    void init(size_type sz, size_type cap)
    {
        if (cap)
        {
            // Lee: the original form:
            //  rep_ = static_cast<Rep*>(operator new(sizeof(Rep) + cap));
            // doesn't work in some cases of new being overloaded. Switching
            // to the normal allocation, although use an 'int' for systems
            // that are overly picky about structure alignment.
            const size_type bytesNeeded = sizeof(Rep) + cap;
            const size_type intsNeeded = ( bytesNeeded + sizeof(int) - 1 ) / sizeof( int ); 
            rep_ = reinterpret_cast<Rep*>( new int[ intsNeeded ] );

            rep_->str[ rep_->size = sz ] = '\0';
            rep_->capacity = cap;
        }
        else
        {
            rep_ = &nullrep_;
        }
    }

    void quit()
    {
        if (rep_ != &nullrep_)
        {
            // The rep_ is really an array of ints. (see the allocator, above).
            // Cast it back before delete, so the compiler won't incorrectly call destructors.
            delete [] ( reinterpret_cast<int*>( rep_ ) );
        }
    }

    Rep * rep_;
    static Rep nullrep_;

} ;


inline bool operator == (const TiXmlString & a, const TiXmlString & b)
{
    return    ( a.length() == b.length() )              // optimization on some platforms
           && ( strcmp(a.c_str(), b.c_str()) == 0 );    // actual compare
}
inline bool operator < (const TiXmlString & a, const TiXmlString & b)
{
    return strcmp(a.c_str(), b.c_str()) < 0;
}

inline bool operator != (const TiXmlString & a, const TiXmlString & b) { return !(a == b); }
inline bool operator >  (const TiXmlString & a, const TiXmlString & b) { return b < a; }
inline bool operator <= (const TiXmlString & a, const TiXmlString & b) { return !(b < a); }
inline bool operator >= (const TiXmlString & a, const TiXmlString & b) { return !(a < b); }

inline bool operator == (const TiXmlString & a, const char* b) { return strcmp(a.c_str(), b) == 0; }
inline bool operator == (const char* a, const TiXmlString & b) { return b == a; }
inline bool operator != (const TiXmlString & a, const char* b) { return !(a == b); }
inline bool operator != (const char* a, const TiXmlString & b) { return !(b == a); }

TiXmlString operator + (const TiXmlString & a, const TiXmlString & b);
TiXmlString operator + (const TiXmlString & a, const char* b);
TiXmlString operator + (const char* a, const TiXmlString & b);


/*
   TiXmlOutStream is an emulation of std::ostream. It is based on TiXmlString.
   Only the operators that we need for TinyXML have been developped.
*/
class TiXmlOutStream : public TiXmlString
{
public :

    // TiXmlOutStream << operator.
    TiXmlOutStream & operator << (const TiXmlString & in)
    {
        *this += in;
        return *this;
    }

    // TiXmlOutStream << operator.
    TiXmlOutStream & operator << (const char * in)
    {
        *this += in;
        return *this;
    }

} ;

#endif  // TIXML_STRING_INCLUDED
#endif  // TIXML_USE_STL

4.5 安装Desktop-Full：编译

$ ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release -DCATKIN_ENABLE_TESTING=0 --ignore-pkg rviz librviz_tutorial rqt_rviz rviz_plugin_tutorials rviz_python_tutorial gazebo_ros gazebo_plugins gazebo_ros_control qt_gui_cpp rqt_gui_cpp rqt_image_view pcl_ros

--ignore-pkg 后面的是编译不过的，目前都没有用，可以不用编译。

pcl-ros应该是可以编译的，但是会编译到一半卡住，估计资源不够了。。。

5. ROS测试

5.1 环境变量设置

$ vim ~/.bashrc

添加

source /root/devel_isolated/setup.bash
LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib64   

export ROS_MASTER_URI=http://127.0.0.1:11311  #主机IP和端口，默认为11311端口
export ROS_HOSTNAME=127.0.0.1

$ source ~/.bashrc

5.2 简单测试

ros安装内容测试

rospack

$ rospack list

actionlib /root/install_isolated/share/actionlib
actionlib_msgs /root/install_isolated/share/actionlib_msgs
actionlib_tutorials /root/install_isolated/share/actionlib_tutorials
angles /root/install_isolated/share/angles
bond /root/install_isolated/share/bond
bondcpp /root/install_isolated/share/bondcpp
bondpy /root/install_isolated/share/bondpy
camera_calibration /root/install_isolated/share/camera_calibration
camera_calibration_parsers /root/install_isolated/share/camera_calibration_parsers
camera_info_manager /root/install_isolated/share/camera_info_manager
catkin /root/install_isolated/share/catkin
class_loader /root/install_isolated/share/class_loader
cmake_modules /root/install_isolated/share/cmake_modules
compressed_depth_image_transport /root/install_isolated/share/compressed_depth_image_transport
compressed_image_transport /root/install_isolated/share/compressed_image_transport
control_msgs /root/install_isolated/share/control_msgs
control_toolbox /root/install_isolated/share/control_toolbox
controller_interface /root/install_isolated/share/controller_interface
controller_manager /root/install_isolated/share/controller_manager
controller_manager_msgs /root/install_isolated/share/controller_manager_msgs
cpp_common /root/install_isolated/share/cpp_common
cv_bridge /root/install_isolated/share/cv_bridge
depth_image_proc /root/install_isolated/share/depth_image_proc
diagnostic_aggregator /root/install_isolated/share/diagnostic_aggregator
diagnostic_analysis /root/install_isolated/share/diagnostic_analysis
diagnostic_common_diagnostics /root/install_isolated/share/diagnostic_common_diagnostics
diagnostic_msgs /root/install_isolated/share/diagnostic_msgs
diagnostic_updater /root/install_isolated/share/diagnostic_updater
diff_drive_controller /root/src/ros_controllers/diff_drive_controller
dynamic_reconfigure /root/install_isolated/share/dynamic_reconfigure
eigen_conversions /root/install_isolated/share/eigen_conversions
filters /root/install_isolated/share/filters
forward_command_controller /root/install_isolated/share/forward_command_controller
gazebo_dev /root/install_isolated/share/gazebo_dev
gazebo_msgs /root/install_isolated/share/gazebo_msgs
gencpp /root/install_isolated/share/gencpp
geneus /root/install_isolated/share/geneus
genlisp /root/install_isolated/share/genlisp
genmsg /root/install_isolated/share/genmsg
gennodejs /root/install_isolated/share/gennodejs
genpy /root/install_isolated/share/genpy
geometry_msgs /root/install_isolated/share/geometry_msgs
gl_dependency /root/install_isolated/share/gl_dependency
hardware_interface /root/install_isolated/share/hardware_interface
image_geometry /root/install_isolated/share/image_geometry
image_proc /root/install_isolated/share/image_proc
image_publisher /root/install_isolated/share/image_publisher
image_rotate /root/install_isolated/share/image_rotate
image_transport /root/install_isolated/share/image_transport
image_view /root/install_isolated/share/image_view
interactive_marker_tutorials /root/install_isolated/share/interactive_marker_tutorials
interactive_markers /root/install_isolated/share/interactive_markers
joint_limits_interface /root/install_isolated/share/joint_limits_interface
joint_state_controller /root/install_isolated/share/joint_state_controller
joint_state_publisher /root/install_isolated/share/joint_state_publisher
kdl_conversions /root/install_isolated/share/kdl_conversions
kdl_parser /root/install_isolated/share/kdl_parser
kdl_parser_py /root/install_isolated/share/kdl_parser_py
laser_assembler /root/install_isolated/share/laser_assembler
laser_filters /root/install_isolated/share/laser_filters
laser_geometry /root/install_isolated/share/laser_geometry
map_msgs /root/install_isolated/share/map_msgs
media_export /root/install_isolated/share/media_export
message_filters /root/install_isolated/share/message_filters
message_generation /root/install_isolated/share/message_generation
message_runtime /root/install_isolated/share/message_runtime
mk /root/install_isolated/share/mk
nav_msgs /root/install_isolated/share/nav_msgs
nodelet /root/install_isolated/share/nodelet
nodelet_topic_tools /root/install_isolated/share/nodelet_topic_tools
nodelet_tutorial_math /root/install_isolated/share/nodelet_tutorial_math
orocos_kdl /root/install_isolated/share/orocos_kdl
pcl_conversions /root/install_isolated/share/pcl_conversions
pcl_msgs /root/install_isolated/share/pcl_msgs
pluginlib /root/install_isolated/share/pluginlib
pluginlib_tutorials /root/install_isolated/share/pluginlib_tutorials
polled_camera /root/install_isolated/share/polled_camera
position_controllers /root/install_isolated/share/position_controllers
python_orocos_kdl /root/install_isolated/share/python_orocos_kdl
python_qt_binding /root/install_isolated/share/python_qt_binding
qt_dotgraph /root/install_isolated/share/qt_dotgraph
qt_gui /root/install_isolated/share/qt_gui
qt_gui_py_common /root/install_isolated/share/qt_gui_py_common
qwt_dependency /root/install_isolated/share/qwt_dependency
realtime_tools /root/install_isolated/share/realtime_tools
resource_retriever /root/install_isolated/share/resource_retriever
robot_state_publisher /root/install_isolated/share/robot_state_publisher
ros_environment /root/install_isolated/share/ros_environment
rosbag /root/install_isolated/share/rosbag
rosbag_migration_rule /root/install_isolated/share/rosbag_migration_rule
rosbag_storage /root/install_isolated/share/rosbag_storage
rosbash /root/install_isolated/share/rosbash
rosboost_cfg /root/install_isolated/share/rosboost_cfg
rosbuild /root/install_isolated/share/rosbuild
rosclean /root/install_isolated/share/rosclean
rosconsole /root/install_isolated/share/rosconsole
rosconsole_bridge /root/install_isolated/share/rosconsole_bridge
roscpp /root/install_isolated/share/roscpp
roscpp_serialization /root/install_isolated/share/roscpp_serialization
roscpp_traits /root/install_isolated/share/roscpp_traits
roscpp_tutorials /root/install_isolated/share/roscpp_tutorials
roscreate /root/install_isolated/share/roscreate
rosgraph /root/install_isolated/share/rosgraph
rosgraph_msgs /root/install_isolated/share/rosgraph_msgs
roslang /root/install_isolated/share/roslang
roslaunch /root/install_isolated/share/roslaunch
roslib /root/install_isolated/share/roslib
roslint /root/install_isolated/share/roslint
roslisp /root/install_isolated/share/roslisp
roslz4 /root/install_isolated/share/roslz4
rosmake /root/install_isolated/share/rosmake
rosmaster /root/install_isolated/share/rosmaster
rosmsg /root/install_isolated/share/rosmsg
rosnode /root/install_isolated/share/rosnode
rosout /root/install_isolated/share/rosout
rospack /root/install_isolated/share/rospack
rosparam /root/install_isolated/share/rosparam
rospy /root/install_isolated/share/rospy
rospy_tutorials /root/install_isolated/share/rospy_tutorials
rosservice /root/install_isolated/share/rosservice
rostest /root/install_isolated/share/rostest
rostime /root/install_isolated/share/rostime
rostopic /root/install_isolated/share/rostopic
rosunit /root/install_isolated/share/rosunit
roswtf /root/install_isolated/share/roswtf
rqt_action /root/install_isolated/share/rqt_action
rqt_bag /root/install_isolated/share/rqt_bag
rqt_bag_plugins /root/install_isolated/share/rqt_bag_plugins
rqt_console /root/install_isolated/share/rqt_console
rqt_dep /root/install_isolated/share/rqt_dep
rqt_graph /root/install_isolated/share/rqt_graph
rqt_gui /root/install_isolated/share/rqt_gui
rqt_gui_py /root/install_isolated/share/rqt_gui_py
rqt_launch /root/install_isolated/share/rqt_launch
rqt_logger_level /root/install_isolated/share/rqt_logger_level
rqt_moveit /root/install_isolated/share/rqt_moveit
rqt_msg /root/install_isolated/share/rqt_msg
rqt_nav_view /root/install_isolated/share/rqt_nav_view
rqt_plot /root/install_isolated/share/rqt_plot
rqt_pose_view /root/install_isolated/share/rqt_pose_view
rqt_publisher /root/install_isolated/share/rqt_publisher
rqt_py_common /root/install_isolated/share/rqt_py_common
rqt_py_console /root/install_isolated/share/rqt_py_console
rqt_reconfigure /root/install_isolated/share/rqt_reconfigure
rqt_robot_dashboard /root/install_isolated/share/rqt_robot_dashboard
rqt_robot_monitor /root/install_isolated/share/rqt_robot_monitor
rqt_robot_steering /root/install_isolated/share/rqt_robot_steering
rqt_runtime_monitor /root/install_isolated/share/rqt_runtime_monitor
rqt_service_caller /root/install_isolated/share/rqt_service_caller
rqt_shell /root/install_isolated/share/rqt_shell
rqt_srv /root/install_isolated/share/rqt_srv
rqt_tf_tree /root/install_isolated/share/rqt_tf_tree
rqt_top /root/install_isolated/share/rqt_top
rqt_topic /root/install_isolated/share/rqt_topic
rqt_web /root/install_isolated/share/rqt_web
self_test /root/install_isolated/share/self_test
sensor_msgs /root/install_isolated/share/sensor_msgs
shape_msgs /root/install_isolated/share/shape_msgs
smach /root/install_isolated/share/smach
smach_msgs /root/install_isolated/share/smach_msgs
smach_ros /root/install_isolated/share/smach_ros
smclib /root/install_isolated/share/smclib
stage /root/install_isolated/share/stage
stage_ros /root/install_isolated/share/stage_ros
std_msgs /root/install_isolated/share/std_msgs
std_srvs /root/install_isolated/share/std_srvs
stereo_image_proc /root/install_isolated/share/stereo_image_proc
stereo_msgs /root/install_isolated/share/stereo_msgs
tf /root/install_isolated/share/tf
tf2 /root/install_isolated/share/tf2
tf2_eigen /root/install_isolated/share/tf2_eigen
tf2_geometry_msgs /root/install_isolated/share/tf2_geometry_msgs
tf2_kdl /root/install_isolated/share/tf2_kdl
tf2_msgs /root/install_isolated/share/tf2_msgs
tf2_py /root/install_isolated/share/tf2_py
tf2_ros /root/install_isolated/share/tf2_ros
tf_conversions /root/install_isolated/share/tf_conversions
theora_image_transport /root/install_isolated/share/theora_image_transport
topic_tools /root/install_isolated/share/topic_tools
trajectory_msgs /root/install_isolated/share/trajectory_msgs
transmission_interface /root/install_isolated/share/transmission_interface
turtle_actionlib /root/install_isolated/share/turtle_actionlib
turtle_tf /root/install_isolated/share/turtle_tf
turtle_tf2 /root/install_isolated/share/turtle_tf2
turtlesim /root/install_isolated/share/turtlesim
urdf /root/install_isolated/share/urdf
urdf_parser_plugin /root/install_isolated/share/urdf_parser_plugin
urdf_sim_tutorial /root/install_isolated/share/urdf_sim_tutorial
urdf_tutorial /root/install_isolated/share/urdf_tutorial
urdfdom_py /root/install_isolated/share/urdfdom_py
visualization_marker_tutorials /root/install_isolated/share/visualization_marker_tutorials
visualization_msgs /root/install_isolated/share/visualization_msgs
webkit_dependency /root/install_isolated/share/webkit_dependency
xacro /root/install_isolated/share/xacro
xmlrpcpp /root/install_isolated/share/xmlrpcpp

roscd

$ roscd urdf
$ pwd

/root/install_isolated/share/urdf

rosmsg

$ rosmsg list

actionlib/TestAction
actionlib/TestActionFeedback
actionlib/TestActionGoal
actionlib/TestActionResult
actionlib/TestFeedback
actionlib/TestGoal
actionlib/TestRequestAction
actionlib/TestRequestActionFeedback
actionlib/TestRequestActionGoal
actionlib/TestRequestActionResult
actionlib/TestRequestFeedback
actionlib/TestRequestGoal
actionlib/TestRequestResult
actionlib/TestResult
actionlib/TwoIntsAction
actionlib/TwoIntsActionFeedback
actionlib/TwoIntsActionGoal
actionlib/TwoIntsActionResult
actionlib/TwoIntsFeedback
actionlib/TwoIntsGoal
actionlib/TwoIntsResult
actionlib_msgs/GoalID
actionlib_msgs/GoalStatus
actionlib_msgs/GoalStatusArray
actionlib_tutorials/AveragingAction
actionlib_tutorials/AveragingActionFeedback
actionlib_tutorials/AveragingActionGoal
actionlib_tutorials/AveragingActionResult
actionlib_tutorials/AveragingFeedback
actionlib_tutorials/AveragingGoal
actionlib_tutorials/AveragingResult
actionlib_tutorials/FibonacciAction
actionlib_tutorials/FibonacciActionFeedback
actionlib_tutorials/FibonacciActionGoal
actionlib_tutorials/FibonacciActionResult
actionlib_tutorials/FibonacciFeedback
actionlib_tutorials/FibonacciGoal
actionlib_tutorials/FibonacciResult
bond/Constants
bond/Status
control_msgs/FollowJointTrajectoryAction
control_msgs/FollowJointTrajectoryActionFeedback
control_msgs/FollowJointTrajectoryActionGoal
control_msgs/FollowJointTrajectoryActionResult
control_msgs/FollowJointTrajectoryFeedback
control_msgs/FollowJointTrajectoryGoal
control_msgs/FollowJointTrajectoryResult
control_msgs/GripperCommand
control_msgs/GripperCommandAction
control_msgs/GripperCommandActionFeedback
control_msgs/GripperCommandActionGoal
control_msgs/GripperCommandActionResult
control_msgs/GripperCommandFeedback
control_msgs/GripperCommandGoal
control_msgs/GripperCommandResult
control_msgs/JointControllerState
control_msgs/JointJog
control_msgs/JointTolerance
control_msgs/JointTrajectoryAction
control_msgs/JointTrajectoryActionFeedback
control_msgs/JointTrajectoryActionGoal
control_msgs/JointTrajectoryActionResult
control_msgs/JointTrajectoryControllerState
control_msgs/JointTrajectoryFeedback
control_msgs/JointTrajectoryGoal
control_msgs/JointTrajectoryResult
control_msgs/PidState
control_msgs/PointHeadAction
control_msgs/PointHeadActionFeedback
control_msgs/PointHeadActionGoal
control_msgs/PointHeadActionResult
control_msgs/PointHeadFeedback
control_msgs/PointHeadGoal
control_msgs/PointHeadResult
control_msgs/SingleJointPositionAction
control_msgs/SingleJointPositionActionFeedback
control_msgs/SingleJointPositionActionGoal
control_msgs/SingleJointPositionActionResult
control_msgs/SingleJointPositionFeedback
control_msgs/SingleJointPositionGoal
control_msgs/SingleJointPositionResult
controller_manager_msgs/ControllerState
controller_manager_msgs/ControllerStatistics
controller_manager_msgs/ControllersStatistics
controller_manager_msgs/HardwareInterfaceResources
diagnostic_msgs/DiagnosticArray
diagnostic_msgs/DiagnosticStatus
diagnostic_msgs/KeyValue
dynamic_reconfigure/BoolParameter
dynamic_reconfigure/Config
dynamic_reconfigure/ConfigDescription
dynamic_reconfigure/DoubleParameter
dynamic_reconfigure/Group
dynamic_reconfigure/GroupState
dynamic_reconfigure/IntParameter
dynamic_reconfigure/ParamDescription
dynamic_reconfigure/SensorLevels
dynamic_reconfigure/StrParameter
gazebo_msgs/ContactState
gazebo_msgs/ContactsState
gazebo_msgs/LinkState
gazebo_msgs/LinkStates
gazebo_msgs/ModelState
gazebo_msgs/ModelStates
gazebo_msgs/ODEJointProperties
gazebo_msgs/ODEPhysics
gazebo_msgs/WorldState
geometry_msgs/Accel
geometry_msgs/AccelStamped
geometry_msgs/AccelWithCovariance
geometry_msgs/AccelWithCovarianceStamped
geometry_msgs/Inertia
geometry_msgs/InertiaStamped
geometry_msgs/Point
geometry_msgs/Point32
geometry_msgs/PointStamped
geometry_msgs/Polygon
geometry_msgs/PolygonStamped
geometry_msgs/Pose
geometry_msgs/Pose2D
geometry_msgs/PoseArray
geometry_msgs/PoseStamped
geometry_msgs/PoseWithCovariance
geometry_msgs/PoseWithCovarianceStamped
geometry_msgs/Quaternion
geometry_msgs/QuaternionStamped
geometry_msgs/Transform
geometry_msgs/TransformStamped
geometry_msgs/Twist
geometry_msgs/TwistStamped
geometry_msgs/TwistWithCovariance
geometry_msgs/TwistWithCovarianceStamped
geometry_msgs/Vector3
geometry_msgs/Vector3Stamped
geometry_msgs/Wrench
geometry_msgs/WrenchStamped
map_msgs/OccupancyGridUpdate
map_msgs/PointCloud2Update
map_msgs/ProjectedMap
map_msgs/ProjectedMapInfo
nav_msgs/GetMapAction
nav_msgs/GetMapActionFeedback
nav_msgs/GetMapActionGoal
nav_msgs/GetMapActionResult
nav_msgs/GetMapFeedback
nav_msgs/GetMapGoal
nav_msgs/GetMapResult
nav_msgs/GridCells
nav_msgs/MapMetaData
nav_msgs/OccupancyGrid
nav_msgs/Odometry
nav_msgs/Path
pcl_msgs/ModelCoefficients
pcl_msgs/PointIndices
pcl_msgs/PolygonMesh
pcl_msgs/Vertices
roscpp/Logger
rosgraph_msgs/Clock
rosgraph_msgs/Log
rosgraph_msgs/TopicStatistics
rospy_tutorials/Floats
rospy_tutorials/HeaderString
sensor_msgs/BatteryState
sensor_msgs/CameraInfo
sensor_msgs/ChannelFloat32
sensor_msgs/CompressedImage
sensor_msgs/FluidPressure
sensor_msgs/Illuminance
sensor_msgs/Image
sensor_msgs/Imu
sensor_msgs/JointState
sensor_msgs/Joy
sensor_msgs/JoyFeedback
sensor_msgs/JoyFeedbackArray
sensor_msgs/LaserEcho
sensor_msgs/LaserScan
sensor_msgs/MagneticField
sensor_msgs/MultiDOFJointState
sensor_msgs/MultiEchoLaserScan
sensor_msgs/NavSatFix
sensor_msgs/NavSatStatus
sensor_msgs/PointCloud
sensor_msgs/PointCloud2
sensor_msgs/PointField
sensor_msgs/Range
sensor_msgs/RegionOfInterest
sensor_msgs/RelativeHumidity
sensor_msgs/Temperature
sensor_msgs/TimeReference
shape_msgs/Mesh
shape_msgs/MeshTriangle
shape_msgs/Plane
shape_msgs/SolidPrimitive
smach_msgs/SmachContainerInitialStatusCmd
smach_msgs/SmachContainerStatus
smach_msgs/SmachContainerStructure
std_msgs/Bool
std_msgs/Byte
std_msgs/ByteMultiArray
std_msgs/Char
std_msgs/ColorRGBA
std_msgs/Duration
std_msgs/Empty
std_msgs/Float32
std_msgs/Float32MultiArray
std_msgs/Float64
std_msgs/Float64MultiArray
std_msgs/Header
std_msgs/Int16
std_msgs/Int16MultiArray
std_msgs/Int32
std_msgs/Int32MultiArray
std_msgs/Int64
std_msgs/Int64MultiArray
std_msgs/Int8
std_msgs/Int8MultiArray
std_msgs/MultiArrayDimension
std_msgs/MultiArrayLayout
std_msgs/String
std_msgs/Time
std_msgs/UInt16
std_msgs/UInt16MultiArray
std_msgs/UInt32
std_msgs/UInt32MultiArray
std_msgs/UInt64
std_msgs/UInt64MultiArray
std_msgs/UInt8
std_msgs/UInt8MultiArray
stereo_msgs/DisparityImage
tf/tfMessage
tf2_msgs/LookupTransformAction
tf2_msgs/LookupTransformActionFeedback
tf2_msgs/LookupTransformActionGoal
tf2_msgs/LookupTransformActionResult
tf2_msgs/LookupTransformFeedback
tf2_msgs/LookupTransformGoal
tf2_msgs/LookupTransformResult
tf2_msgs/TF2Error
tf2_msgs/TFMessage
theora_image_transport/Packet
trajectory_msgs/JointTrajectory
trajectory_msgs/JointTrajectoryPoint
trajectory_msgs/MultiDOFJointTrajectory
trajectory_msgs/MultiDOFJointTrajectoryPoint
turtle_actionlib/ShapeAction
turtle_actionlib/ShapeActionFeedback
turtle_actionlib/ShapeActionGoal
turtle_actionlib/ShapeActionResult
turtle_actionlib/ShapeFeedback
turtle_actionlib/ShapeGoal
turtle_actionlib/ShapeResult
turtle_actionlib/Velocity
turtlesim/Color
turtlesim/Pose
visualization_msgs/ImageMarker
visualization_msgs/InteractiveMarker
visualization_msgs/InteractiveMarkerControl
visualization_msgs/InteractiveMarkerFeedback
visualization_msgs/InteractiveMarkerInit
visualization_msgs/InteractiveMarkerPose
visualization_msgs/InteractiveMarkerUpdate
visualization_msgs/Marker
visualization_msgs/MarkerArray
visualization_msgs/MenuEntry

$ rosmsg info LaserScan

[sensor_msgs/LaserScan]:
std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
float32 angle_min
float32 angle_max
float32 angle_increment
float32 time_increment
float32 scan_time
float32 range_min
float32 range_max
float32[] ranges
float32[] intensities

运行测试

启动roscore

$ roscore

... logging to /root/.ros/log/a6a79a40-98d9-11ea-9ee2-dca632413d3a/roslaunch-openEuler-175630.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
roscore
started roslaunch server http://127.0.0.1:43005
ros_comm version 1.14.5


SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.5

NODES

auto-starting new master
process[master]: started with pid [175640]
ROS_MASTER_URI=http://127.0.0.1:11311
roscore http://127.0.0.1:11311/
setting /run_id to a6a79a40-98d9-11ea-9ee2-dca632413d3a
process[rosout-1]: started with pid [175651]
started core service [/rosout]

打开一个新终端，查看node、topic等，证明安装成功

[root@openEuler ~]# rosnode list
/rosout
[root@openEuler ~]# rostopic list
/rosout
/rosout_agg
[root@openEuler ~]# rosservice list
/rosout/get_loggers
/rosout/set_logger_level
[root@openEuler ~]# rosparam list
/rosdistro
/roslaunch/uris/host_127_0_0_1__45249
/rosversion
/run_id

火种源码

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openEuler下移植ROS Melodic运行时环境

1. 环境操作系统版本：openEuler 20.03 LTS内核版本：4.19.90-2003.4.0.0036硬件：raspberrypi4+16G SSD最新镜像openEuler 20.03 LTS 的内测版本镜像，下载。openEuler 20.03 + ROS Melodic Desktopfull + SLAM + Navigation raspberrypi4镜像，下载。提取码781g刷镜像(第2条命令可能不自动跳出终止，不影响使用。拷贝完成的标志是15G的分区能
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