滑鼠點擊左下角

 滑鼠點擊Other

Building ROS 2 on Ubuntu Linux

Set locale 設置系統區域語言

> locale

>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

Add the ROS 2 apt repository 加入ROS-2儲存庫

> sudo apt update && sudo apt install curl gnupg2 lsb-release

 > sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg

>echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

Install development tools and ROS tools

> sudoaptupdate&&sudoaptinstall-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

Get ROS 2 code 取得ROS-2原始碼

Create a workspace and clone all 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 使用rosdep安裝相依套件

 > sudo rosdep init

 > rosdep update

 > rosdep install --from-paths src --ignore-src --rosdistro dashing -y --skip-keys "console_bridge fastcdr fastrtps libopensplice67 libopensplice69 rti-connext-dds-5.3.1 urdfdom_header

> sudo apt update

> sudo apt install python3-rosdep

> rosdep update

Clone foonathan_memory_vendor

> git clone https://github.com/eProsima/foonathan_memory_vendor.git

Go back to the workspace root:

> rosdep install --from-paths src --ignore-src --rosdistro dashing -y --skip-keys "console_bridge fastcdr fastrtps libopensplice67 libopensplice69 rti-connext-dds-5.3.1 urdfdom_headers"

 安裝ROS成功畫面

建置程式碼

切換路徑到工作空間

> cd ~/ros2_dashing

開始編譯套件

> colcon build --symlink-install