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--- tutorials:ros2_in_debian_unstable [2019/11/05 04:52] – created admin
+++ tutorials:ros2_in_debian_unstable [2022/09/20 00:08] (current) – external edit 127.0.0.1
@@ Line 1: / Line 1: @@
-====== ROS2 in Debian Unstable (2019.10.04) ======
+====== ROS2 (Dashing) in Debian Unstable (2019.10.04) ======
+These instructions are based on the ROS2 official installation webpage:
+https://index.ros.org/doc/ros2/Installation/Dashing/Linux-Development-Setup/
+There are small differences. This may change with future ROS2 updates.
+  * Add ROS2 apt repository (lsb_release -cs sets the repository to "sid" which is a mistake, it must be forced to "buster")
+  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 -
+  sudo sh -c 'echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu buster main" > /etc/apt/sources.list.d/ros2-latest.list'
+  * Install development tools and ROS tools:
+  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 CycloneDDS dependencies
+  sudo apt install --no-install-recommends -y \
+  libcunit1-dev
+  * Create workspace and clone repos:
+  mkdir -p ~/ros2_dashing/src
+  cd ~/ros2_dashing
+  wget https://raw.githubusercontent.com/ros2/ros2/dashing/ros2.repos
+  vcs import src < ros2.repos
+  * Install dependencies using rosdep
+  sudo rosdep init
+  rosdep update
+  rosdep install --os=debian:buster --from-paths src --ignore-src --rosdistro dashing -y --skip-keys "console_bridge fastcdr fastrtps libopensplice67 libopensplice69 rti-connext-dds-5.3.1 urdfdom_headers"
+  * Configure the system to use gcc and g++ version 8 instead of version 9:
+  sudo apt-get install gcc-8 g++-8
+  sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-8 80 --slave /usr/bin/g++ g++ /usr/bin/g++-8
+  sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-9 60 --slave /usr/bin/g++ g++ /usr/bin/g++-9
+  * Build the code in the workspace
+  cd ~/ros2_dashing/
+  colcon build --symlink-install
+  * Try some examples
+  * In one terminal:
+  . ~/ros2_dashing/install/local_setup.bash
+  ros2 run demo_nodes_cpp talker
+  * In another terminal:
+  . ~/ros2_dashing/install/local_setup.bash
+  ros2 run demo_nodes_py listener