ROS 2编译与安装

以下内容对应Arch Linux, Debian/Ubuntu系发行版系统的教程，如果是其他系统请酌情按照自己的环境修改。另外，对于Arch Linux，还可参考 ROS - Arch Linux Wiki，我有经常维护该页面。

本安装教程对应ros2.repos，链接版本是Galactic。虽然发行时社区声称Galactic不默认支持Ubuntu 18.04，但经过一番探索，还是可以支持的，只在一些软件的版本上（比如PyQt等）有些许差别，均可通过下述方法修复。

修改字符格式（一般情况不用执行，除非你的locale是其他语言）

locale  # check for UTF-8
sudo apt update && sudo apt install locales
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

更新Ubuntu源（只有Ubuntu发行版需要）

注意，这里需要分辨自己的版本。

Ubuntu 18.04：

sudo apt install curl gnupg2 lsb-release 

sudo vim /etc/apt/sources.list

deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse

sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] https://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu/ $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt update

Ubuntu 20.04：

sudo apt install curl gnupg2 lsb-release 

sudo vim /etc/apt/sources.list

deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted universe multiverse

sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] https://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu/ $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt update

安装编译所需依赖

对于Arch Linux：

安装ROS 2的相关依赖：

yay -S --noconfirm ros-arch-deps

建立Sip所需链接

sudo mkdir -p /usr/share/sip
sudo ln -s /usr/lib/python3.9/site-packages/PyQt5 /usr/share/sip/.
sudo ln -s /usr/lib/python3.9/site-packages/PyQt5/bindings/* /usr/share/sip/PyQt5/.

安装其他依赖：

yay -S --noconfirm ompl vtk pcl ceres-solver gazebo

对于Ubuntu系的发行版：

安装ROS 2的依赖

这部分如果全复制可能会失败，如果哪个失败就单独安装哪个，或者一条一条安装。Ubuntu的APT的软件包依赖关系并不够严谨，所以有时候会处理不了这些逻辑。

sudo apt update && sudo apt install -y \
  build-essential \
  cmake \
  git \
  libbullet-dev \
  python3-colcon-common-extensions \
  python3-flake8 \
  python3-pip \
  python3-pytest-cov \
  python3-rosdep \
  python3-setuptools \
  python3-vcstool \
  python3-lark
  python3-lark-parser \
  python3-sip \
  python3-numpy \
  libfreetype-dev \
  pyqt5-dev \
  wget \
  libasio-dev \
  libtinyxml2-dev \
  libeigen3-dev \
  libpcl-dev \
  libxrandr-dev \
  libxaw7-dev \
  liblog4cxx-dev \
  libassimp-dev \
  libopencv-dev \
  python3-testresources \ 
  libgraphicsmagick++1-dev \
  libgflags-dev \
  libgoogle-glog-dev \
  libsuitesparse-dev \
  libgles2-mesa-dev \
  libxt-dev \
  libasio-dev \
  libsdl2-dev \
  doxygen \
  libcurl4-openssl-dev \
  libsqlite3-dev \
  libbison-dev \
  libncurses-dev \
  libacl1-dev


//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 \
  importlib-metadata \
  importlib-resources

安装SIP和PyQT5相关的包

这里提供的是4.19.25版本的sip，由于qt_gui_cpp的限制，只能使用sip4（虽然已经更新到6）。

Arch Linux用户可以直接安装sip4，无需此步骤。

Ubuntu相关用户：

wget https://www.riverbankcomputing.com/static/Downloads/sip/4.19.25/sip-4.19.25.tar.gz
tar -xvf sip-4.19.25.tar.gz
cd sip-4.19.25
python3 configure.py
make
sudo make install

python3 -m pip install PyQt5
python3 -m pip install PyQt5-sip

# For Ubuntu 18.04
sudo mkdir /usr/share/sip
sudo ln -s ~/.local/lib/python3.6/site-packages/PyQt5 /usr/share/sip/. 
sudo ln -s ~/.local/lib/python3.6/site-packages/PyQt5/bindings/* /usr/share/sip/PyQt5/.

# For Ubuntu 20.04
sudo mkdir /usr/share/sip
sudo ln -s ~/.local/lib/python3.8/site-packages/PyQt5 /usr/share/sip/. 
sudo ln -s ~/.local/lib/python3.8/site-packages/PyQt5/bindings/* /usr/share/sip/PyQt5/.

编译ROS2源码

sudo mkdir /opt/ros2
sudo chown $USER /opt/ros2
colcon build --merge-install --install-base /opt/ros2/galactic --parallel-workers 20

期间如果发生warning，忽略即可，所以一般需要运行两次。

添加脚本

如果你使用的是zsh，则添加如下脚本到～/.zshrc。

ros2_on(){
      export ROS_DOMAIN_ID=42
      export ROS_VERSION=2
      export ROS_PYTHON_VERSION=3
      export ROS_DISTRO=galactic
      source /opt/ros2/galactic/setup.zsh
 }

如果你使用的是bash，则添加如下脚本到～/.bashrc。

ros2_on(){
      export ROS_DOMAIN_ID=42
      export ROS_VERSION=2
      export ROS_PYTHON_VERSION=3
      export ROS_DISTRO=galactic
      source /opt/ros2/galactic/setup.bash
 }

对于ROS_DOMAIN_ID的值，可以按照自己的需求去修改。

使用方法

更新环境变量后，运行ros2_on即可部署ROS 2环境