ROS 2 安装手册和踩过的坑
本篇记录一下在Ubuntu 18.04下安装ROS 2 Eloquent Elusor的过程，由于ROS 2首选的系统就是Ubuntu18.04，不过在国内的安装过程里面确实很多坑，记录下来帮助大家避坑。
官方流程
https://index.ros.org/doc/ros2/Installation/Eloquent/Linux-Development-Setup/
系统要求
按照官方，要求是
Ubuntu Linux – Bionic Beaver (18.04) 64-bit
这个就不赘述了
系统设置
更换Ubuntu 清华源
由于国内访问Ubuntu默认的软件源非常慢，所以安装后优先更新为国内的镜像源
Ubuntu 的软件源配置文件是 /etc/apt/sources.list。将系统自带的该文件做个备份，将该文件替换为下面内容，即可使用 清华的软件源镜像。
# 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
# 预发布软件源，不建议启用
# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse
注意：
清华源镜像仅包含 32/64 位 x86 架构处理器的软件包，在 ARM(arm64, armhf)、PowerPC(ppc64el)、RISC-V(riscv64) 和 S390x 等架构的设备上（对应官方源为ports.ubuntu.com）请使用 ubuntu-ports 镜像。
设置完软件源，可以大大地加速我们的apt更新安装速度。
设置语言区域
官方要求是需要确认支持UTF-8，虽然说起来似乎不一定需要，不过确认一下即可
locale # check for UTF-8
sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8
locale # verify settings
增加ROS 2 apt软件仓库
我们需要将我们的ROS2 apt软件仓库加入系统。
首先要验证我们的GPG key
sudo apt update && sudo apt install curl gnupg2 lsb-release
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
将仓库加入我们的软件源
sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
注意：
这里如果直接执行的话，会遇到raw.githubusercontent.com的DNS污染问题。
解决方法：
-
通过IPAddress.com，可以查到raw.githubusercontent.com的真实IP地址为
.*
.
.
-
通过
sudo vi /etc/hosts
在hosts文件最后加入IP和域名的绑定即可解决。
***.***.**.*** raw.githubusercontent.com
安装开发工具和ROS工具
sudo apt update && sudo apt install -y \
build-essential \
cmake \
git \
python3-colcon-common-extensions \
python3-pip \
python-rosdep \
python3-vcstool \
wget
# install some pip packages needed for testing
python3 -m pip install -U \
argcomplete \
flake8 \
flake8-blind-except \
flake8-builtins \
flake8-class-newline \
flake8-comprehensions \
flake8-deprecated \
flake8-docstrings \
flake8-import-order \
flake8-quotes \
pytest-repeat \
pytest-rerunfailures \
pytest \
pytest-cov \
pytest-runner \
setuptools
# install Fast-RTPS dependencies
sudo apt install --no-install-recommends -y \
libasio-dev \
libtinyxml2-dev
# install Cyclone DDS dependencies
sudo apt install --no-install-recommends -y \
libcunit1-dev
获取ROS 2代码
创建workspace，clone ROS 2的代码仓库
mkdir -p ~/ros2_eloquent/src
cd ~/ros2_eloquent
wget https://raw.githubusercontent.com/ros2/ros2/eloquent/ros2.repos
vcs import src < ros2.repos
使用rosdep安装依赖
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro eloquent -y --skip-keys "console_bridge fastcdr fastrtps libopensplice67 libopensplice69 rti-connext-dds-5.3.1 urdfdom_headers"
在workspace中编译代码
虽说是编译代码，其实编译过程中还有不少需要下载的情况，个人就在 rviz_ogre_vendor的编译中遇到了很久的下载错误。大家可以想办法在下载方面采用一些方法。
编译代码
cd ~/ros2_eloquent/
colcon build --symlink-install
环境配置
. ~/ros2_eloquent/install/setup.bash
验证样例
在一个终端（A）里，运行配置，启动C++的talker
. ~/ros2_eloquent/install/local_setup.bash
ros2 run demo_nodes_cpp talker
在另一个终端（B）里，运行配置，启动Python的listener
. ~/ros2_eloquent/install/local_setup.bash
ros2 run demo_nodes_py listener
终端A中显示
HP-ProDesk-680-G1-TWR:~/ros2_eloquent$ ros2 run demo_nodes_cpp talker
[INFO] [talker]: Publishing: 'Hello World: 1'
[INFO] [talker]: Publishing: 'Hello World: 2'
[INFO] [talker]: Publishing: 'Hello World: 3'
[INFO] [talker]: Publishing: 'Hello World: 4'
[INFO] [talker]: Publishing: 'Hello World: 5'
[INFO] [talker]: Publishing: 'Hello World: 6'
[INFO] [talker]: Publishing: 'Hello World: 7'
[INFO] [talker]: Publishing: 'Hello World: 8'
[INFO] [talker]: Publishing: 'Hello World: 9'
[INFO] [talker]: Publishing: 'Hello World: 10'
[INFO] [talker]: Publishing: 'Hello World: 11'
[INFO] [talker]: Publishing: 'Hello World: 12'
[INFO] [talker]: Publishing: 'Hello World: 13'
[INFO] [talker]: Publishing: 'Hello World: 14'
[INFO] [talker]: Publishing: 'Hello World: 15'
终端B中显示
HP-ProDesk-680-G1-TWR:~/ros2_eloquent$ ros2 run demo_nodes_py listener
[INFO] [listener]: I heard: [Hello World: 1]
[INFO] [listener]: I heard: [Hello World: 2]
[INFO] [listener]: I heard: [Hello World: 3]
[INFO] [listener]: I heard: [Hello World: 4]
[INFO] [listener]: I heard: [Hello World: 5]
[INFO] [listener]: I heard: [Hello World: 6]
[INFO] [listener]: I heard: [Hello World: 7]
[INFO] [listener]: I heard: [Hello World: 8]
[INFO] [listener]: I heard: [Hello World: 9]
[INFO] [listener]: I heard: [Hello World: 10]
[INFO] [listener]: I heard: [Hello World: 11]
[INFO] [listener]: I heard: [Hello World: 12]
[INFO] [listener]: I heard: [Hello World: 13]
[INFO] [listener]: I heard: [Hello World: 14]
[INFO] [listener]: I heard: [Hello World: 15]
大功告成~~~
参考
- https://index.ros.org/doc/ros2/Installation/Eloquent/Linux-Development-Setup/
- https://mirrors.tuna.tsinghua.edu.cn/help/ubuntu/
- https://alanlee.fun/2018/05/18/ubuntu-ssr/
- https://wylu.me/posts/eed37a90/