Attachment 12869 Details for Bug 42533 – "Building from source" ROS install manual

"Building from source" ROS install manual

ALTLinux_ROS2_install_manual.txt (text/plain), 3.62 KB, created by Alexey Ivakhnenko on 2023-03-31 12:30:22 MSK

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Creator: Alexey Ivakhnenko

Created: 2023-03-31 12:30:22 MSK

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patch

obsolete

>1. Ð£ÑÑÐ°Ð½Ð¾Ð²ÐºÐ° ÑÑÐµÐ´ÑÑÐ² ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ¸ Ð¸ ROS Ð¸Ð½ÑÑÑÑÐ¼ÐµÐ½ÑÐ°ÑÐ¸Ñ.
>
># apt-get update
># apt-get install \
>	cmake \
>	patch \
>	gcc-c++ \
>	git \
>	libstdc++-devel-static \
>	pip \
>	python3-module-pytest \
>	python3-module-flake8 \
>	python3-module-flake8-docstrings \
>	python3-module-flake8-import-order \
>	python3-module-mypy \
>	python3-module-notify2 \
>	python3-module-pytest \
>	python3-module-pytest-repeat \
>	python3-module-pytest-rerunfailures \
>	python3-module-setuptools
>
># apt-get install \
>	python3-module-colcon-common-extensions \
>	python3-module-rospkg \
>	python3-module-vcstool \
>	rosdep
>
>2. ÐÐ°Ð³ÑÑÐ·ÐºÐ° ÐºÐ¾Ð´Ð° ROS 2
>	
>Ð¡Ð¾Ð·Ð´Ð°Ð½Ð¸Ðµ workspace Ð¸ ÐºÐ»Ð¾Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ ÑÐµÐ¿Ð¾Ð·Ð¸ÑÐ¾ÑÐ¸ÐµÐ² Ð¿Ð°ÐºÐµÑÐ¾
>
>$ mkdir -p ~/ros2_humble/src
>$ cd ~/ros2_humble
>$ vcs import --input https://raw.githubusercontent.com/ros2/ros2/humble/ros2.repos src
>
>3. Ð£ÑÑÐ°Ð½Ð¾Ð²ÐºÐ° Ð¿Ð°ÐºÐµÑÐ¾Ð²-Ð·Ð°Ð²Ð¸ÑÐ¸Ð¼Ð¾ÑÑÐµÐ¹ Ñ Ð¿Ð¾Ð¼Ð¾ÑÑÑ rosdep
>
> - ÐÑÐ¸ Ð½Ð°ÑÑÑÐ¾ÐµÐ½Ð½Ð¾Ð¼ sudo:
> $ rosdep update
> $ rosdep install --from-paths src --ignore-src -y --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers ignition-math6 ignition-cmake2"
>
> - Ð Ð¾ÑÑÑÑÑÑÐ²Ð¸Ðµ sudo:
> # rosdep update
> # rosdep install --from-paths /home/<Ð¸Ð¼Ñ_Ð¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°ÑÐµÐ»Ñ>/ros2_humble/src --ignore-src -y --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers ignition-math6 ignition-cmake2"
> # rm -rf ~/.ros
>
>4. Ð¡Ð±Ð¾ÑÐºÐ° ÐºÐ¾Ð´Ð° ROS Ð² workspace
>	
>$ cd ~/ros2_humble/
>$ colcon build --symlink-install
>
>ÐÑÐ»Ð¸ ÑÐµÑÑÑÑÑ ÑÐ¸ÑÑÐµÐ¼Ñ Ð½Ðµ Ð²ÐµÐ»Ð¸ÐºÐ¸ (Ð²Ð¸ÑÑÑÐ°Ð»ÑÐ½Ð°Ñ Ð¼Ð°ÑÐ¸Ð½Ð° Ð¸Ð»Ð¸ Ð¾Ð´Ð½Ð¾Ð¿Ð»Ð°ÑÐ½ÑÐ¹ ÐºÐ¾Ð¼Ð¿ÑÑÑÑÐµÑ), 
>Ð´Ð»Ñ Ð¾Ð³ÑÐ°Ð½Ð¸ÑÐµÐ½Ð¸Ñ ÐºÐ¾Ð»Ð¸ÑÐµÑÑÐ²Ð° Ð¾Ð´Ð½Ð¾Ð²ÑÐµÐ¼ÐµÐ½Ð½Ð¾ ÑÐ¾Ð±Ð¸ÑÐ°ÐµÐ¼ÑÑ Ð¿Ð°ÐºÐµÑÐ¾Ð² Ð´Ð»Ñ colcon build 
>Ð¼Ð¾Ð¶Ð½Ð¾ Ð´Ð¾Ð±Ð°Ð²Ð¸ÑÑ Ð¾Ð¿ÑÐ¸Ñ --parallel-workers <ÐºÐ¾Ð»Ð¸ÑÐµÑÑÐ²Ð¾ Ð¿Ð°ÐºÐµÑÐ¾Ð²>, Ð¸ ÑÐ»ÐµÐ´Ð¸ÑÑ Ð·Ð°
>Ð½Ð°Ð»Ð¸ÑÐµÐ¼ Ð² ÑÐ¸ÑÑÐµÐ¼Ðµ Ð´Ð¾ÑÑÐ°ÑÐ¾ÑÐ½Ð¾Ð¹ ÑÐ²Ð¾Ð±Ð¾Ð´Ð½Ð¾Ð¹ Ð¿Ð°Ð¼ÑÑÐ¸, Ð¿ÑÐ¸ Ð½ÐµÐ¾Ð±ÑÐ¾Ð´Ð¸Ð¼Ð¾ÑÑÐ¸ Ð´Ð¾Ð±Ð°Ð²Ð¸ÑÑ swap.
>Ð¡Ð±Ð¾ÑÐºÑ Ð¼Ð¾Ð¶Ð½Ð¾ Ð¿ÑÐµÑÐ²Ð°ÑÑ (Ctrl+C) Ð¸ Ð¿ÐµÑÐµÐ·Ð°Ð¿ÑÑÑÐ¸ÑÑ Ñ Ð½Ð¾Ð²ÑÐ¼Ð¸ Ð¾Ð¿ÑÐ¸ÑÐ¼Ð¸. 
>ÐÐ»Ñ Ð²ÑÐ²Ð¾Ð´Ð° Ð² ÑÐµÑÐ¼Ð¸Ð½Ð°Ð» Ð»Ð¾Ð³Ð° ÐºÐ¾Ð¼Ð¿Ð¸Ð»Ð»ÑÑÐ¾ÑÐ° colcon build Ð½ÑÐ¶Ð½Ð¾ Ð´Ð¾Ð±Ð°Ð²Ð¸ÑÑ Ð¾Ð¿ÑÐ¸Ñ 
>--event-handlers console_direct+.
>ÐÐ°Ð¿ÑÐ¸Ð¼ÐµÑ:
>
>$ colcon build --symlink-install --parallel-workers 1 --event-handlers console_direct+
>
>ÐÐ»Ñ ÑÐ±Ð¾ÑÐºÐ¸ Ð¾Ð¿ÑÐµÐ´ÐµÐ»ÑÐ½Ð½Ð¾Ð³Ð¾ ROS Ð¿Ð°ÐºÐµÑÐ° Ð´Ð¾Ð±Ð°Ð²ÑÑÐµ Ð¾Ð¿ÑÐ¸Ñ --packages-select <Ð½Ð°Ð·Ð²Ð°Ð½Ð¸Ðµ Ð¿Ð°ÐºÐµÑÐ° ROS>.
>
>5. ÐÐ°ÑÑÑÐ¾Ð¹ÐºÐ° ÑÑÐµÐ´Ñ Ð¾ÐºÑÑÐ¶ÐµÐ½Ð¸Ñ
>
>ÐÐ»Ñ ÑÐ°Ð±Ð¾ÑÑ Ñ Ð¿Ð°ÐºÐµÑÐ°Ð¼Ð¸, ÑÐ¾Ð´ÐµÑÐ°ÑÐ¸Ð¼Ð¸ÑÑ Ð² Ð¿Ð¾Ð»ÑÑÐµÐ½Ð½Ð¾Ð¼ workspace, Ð²ÑÐ¿Ð¾Ð»Ð½Ð¸ÑÐµ source ÑÐ»ÐµÐ´ÑÑÑÐµÐ³Ð¾ ÑÐ°Ð¹Ð»Ð°:
>
>$ . ~/ros2_humble/install/local_setup.sh 
>
>ÐÑÐ¸ ÑÐ°ÑÑÐ¾Ð¹ ÑÐ°Ð±Ð¾ÑÐµ Ñ ROS ÑÑÑ ÐºÐ¾Ð¼Ð°Ð½Ð´Ñ Ð¼Ð¾Ð¶Ð½Ð¾ ÑÐ°Ð·Ð¼ÐµÑÑÐ¸ÑÑ Ð² ~/.bash_rc, ÑÐ¾Ð·Ð´Ð°ÑÑ alias Ð² ~/.bashrc
>Ð¸Ð»Ð¸ Ð½Ð°ÑÑÑÐ¾Ð¸ÑÑ Ð²ÑÐ·Ð¾Ð² ÑÐ¿ÐµÑÐ¸Ð°Ð»ÑÐ½ÑÐ¹ Ð²ÑÐ·Ð¾Ð² ÑÐµÑÐ¼Ð¸Ð½Ð°Ð»Ð° Ñ Ð²ÑÐ¿Ð¾Ð»Ð½ÐµÐ½Ð¸ÐµÐ¼ ÑÑÐ¾Ð¹ ÐºÐ¾Ð¼Ð°Ð½Ð´Ñ Ð²Ð½Ð°ÑÐ°Ð»Ðµ.
>
>6. ÐÐ°Ð¿ÑÑÐº Ð¿ÑÐ¾ÑÑÐµÐ¹ÑÐµÐ³Ð¾ Ð¿ÑÐ¸Ð¼ÐµÑÐ°
>
>Ð Ð¾Ð´Ð½Ð¾Ð¼ Ð¾ÐºÐ½Ðµ ÑÐµÑÐ¼Ð¸Ð½Ð°Ð»Ð° Ð·Ð°Ð¿ÑÑÑÐ¸ÑÐµ Ð¡++ talker:
>
>$ . ~/ros2_humble/install/local_setup.bash
>$ ros2 run demo_nodes_cpp talker
>
>Ð Ð´ÑÑÐ³Ð¾Ð¼ Ð¾ÐºÐ½Ðµ ÑÐµÑÐ¼Ð¸Ð½Ð°Ð»Ð° Ð·Ð°Ð¿ÑÑÑÑÐ¸ÑÐµ Python Listener
>
>$ . ~/ros2_humble/install/local_setup.bash
>$ ros2 run demo_nodes_py listener
>
>ÐÑ Ð´Ð¾Ð»Ð¶Ð½Ñ ÑÐ²Ð¸Ð´ÐµÑÑ, ÑÑÐ¾ talker ÑÐ¾Ð¾Ð±ÑÐ°ÐµÑ, ÑÑÐ¾ Ð¿ÑÐ±Ð»Ð¸ÐºÑÐµÑ ÑÐ¾Ð¾Ð±ÑÐµÐ½Ð¸Ñ, Ð° listener Ð³Ð¾Ð²Ð¾ÑÐ¸Ñ, ÑÑÐ¾ Ð¸Ñ Ð¿Ð¾Ð»ÑÑÐ°ÐµÑ.

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