====== 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