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Ionic Ubuntu source install: rosdep instructions #568

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Ionic Ubuntu source install: rosdep instructions
scpeters Jan 17, 2025
2c2acdb
Add more packages to --skip-keys
scpeters Jan 17, 2025
910d5d6
Merge branch 'master' into scpeters/ionic_ubuntu_src_rosdep
scpeters Jan 17, 2025
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32 changes: 32 additions & 0 deletions ionic/install_ubuntu_src.md
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Original file line number Diff line number Diff line change
Expand Up @@ -103,6 +103,38 @@ sudo apt -y install \
$(sort -u $(find . -iname 'packages-'`lsb_release -cs`'.apt' -o -iname 'packages.apt' | grep -v '/\.git/') | sed '/gz\|sdf/d' | tr '\n' ' ')
```

Alternatively, if you want to install dependencies using
[rosdep](https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html),
ensure that [rosdep is installed](https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html#how-do-i-use-the-rosdep-tool)
and use the following command:

```bash
cd ~/workspace/src
rosdep install -i --from-path . -y \
--skip-keys "gz-cmake3 DART libogre-dev libogre-next-2.3-dev"
```

The `rosdep` command attempts to install dependencies listed in `package.xml`
files, but when problems arise the `--skip-keys` argument is used. Explanations
for its use in the previous line are given below:

* `gz-cmake3`: `gz-tools2` can build from source against
[both `gz-cmake3` and `gz-cmake4`](https://github.com/gazebosim/gz-tools/pull/128),
and this workspace only contains `gz-cmake4`. The `gz-tools2` `package.xml`
file only [depends on gz-cmake3](https://github.com/gazebosim/gz-tools/blob/2b228e5b956/package.xml#L13)
and since that package is not present, use `--skip-keys gz-cmake3`.
* `DART`: `gz-physics8` can build against [dartsim](http://dartsim.github.io),
which is listed as DART in the [gz-physics package.xml file](https://github.com/gazebosim/gz-physics/blob/gz-physics8_8.0.0/package.xml#L16).
This package is not in the workspace, so `DART` is added to the `--skip-keys`
string.
See the discussion in [gz-physics#608](https://github.com/gazebosim/gz-physics/pull/608#discussion_r1589512231)
for more background on the package name used for `DART`.
* `libogre-dev` and `libogre-next-2.3-dev`: `gz-rendering9` can build against
ogre 1.9 and ogre-next 2.3. The debian package names are listed as
dependencies in the [gz-rendering package.xml](https://github.com/gazebosim/gz-rendering/blob/gz-rendering9_9.0.0/package.xml#L22-L23)
but they are not available on all Linux versions, so work around with
`--skip-keys "libogre-dev libogre-next-2.3-dev"`.

## Building the Gazebo Libraries

Once the compiler and all the sources are in place it is time to compile them.
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