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tutorials:ros2_in_debian_unstable [2019/11/05 20:21] – admintutorials:ros2_in_debian_unstable [2022/09/20 00:08] (current) – external edit 127.0.0.1
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   curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -   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'   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
  
  
tutorials/ros2_in_debian_unstable.1572985270.txt.gz · Last modified: 2022/09/20 00:08 (external edit)