-
Notifications
You must be signed in to change notification settings - Fork 316
Home
You should use one of the following operating systems:
- Ubuntu Trusty 14.04
- OS X Yosemite 10.10
- Windows 8.1 with Visual Studio 14.0 2015
For OSX see: https://github.com/ros2/examples/wiki/OSX-Development-Setup For Windows see: https://github.com/ros2/examples/wiki/Windows-Development-Setup
First make sure you have the ROS apt repositories added to your system, if not:
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver ha.pool.sks-keyservers.net --recv-keys 421C365BD9FF1F717815A3895523BAEEB01FA116
Also get the osrf (gazebo) debian repository:
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-latest.list'
sudo apt-key adv --keyserver ha.pool.sks-keyservers.net --recv-keys D2486D2DD83DB69272AFE98867170598AF249743
Install GCC, G++ CMake, Python3 EmPy package (custom packages which don't collide) and setuptools:
sudo apt-get update
sudo apt-get install git wget
sudo apt-get install build-essential cppcheck cmake libopencv-dev python-empy python3-empy python3-setuptools python3-nose python3-pip python3-vcstool
The setuptools version shipped with Ubuntu Trusty is not recent enough - we require at least version 8.2 (see https://bitbucket.org/pypa/setuptools/pull-request/85/):
sudo pip3 install -U setuptools
Create a workspace and clone all repos:
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws
wget https://raw.githubusercontent.com/ros2/examples/master/ros2.repos
vcs import ~/ros2_ws/src < ros2.repos
ROS 2.0 builds on top of DDS. It is compatible with multiple vendors. You can choose to install one or more of the supported versions of DDS.
By default we will demonstrate installing opensplice from OSRF packaged debian packages. Details for installing other DDS vendors is below.
sudo apt-get update
sudo apt-get install libopensplice64 # from packages.osrfoundation.org
More info on working with an ament workspace can be found in this tutorial.
cd ~/ros2_ws/
src/ament/ament_tools/scripts/ament.py build --build-tests --symlink-install
Note: if you are having trouble compiling all examples and this is preventing you from completing a successful build, you can usine AMENT_IGNORE is that same manner as CATKIN_IGNORE to ignore the subtree or remove the folder from the workspace. Take for instance: you would like to avoid installing the large opencv library. Well then simply $ touch AMENT_IGNORE file in the cam2image demo directory to leave it out of the build process.
Optionally build all packages in isolation:
src/ament/ament_tools/scripts/ament.py build --build-tests --symlink-install --isolated
Afterwards source the local_setup.* from the install / install_isolated folder.
Now that you have finished building the workspace, try out the demos. TODO LINKME
If you are using a
Add the following line to you .bashrc file:
export PTECH_LICENSE_FILE=path/to/prismtech.lic
Choose one of the following options for PrismTech OpenSplice.
sudo apt-get update
sudo apt-get install libopensplice64 # from packages.osrfoundation.org
Add this to you ~/.bashrc
export OSPL_URI=file:///usr/etc/opensplice/config/ospl.xml
Install the packages provided by OpenSplice (we currently use 6.4.1p2).
Source the release.com file to set the OSPL_HOME environment variable.
If you build OpenSplice from source, be sure to remember to following the INSTALL.txt instructions and manually replace the @@INSTALLDIR@@ placeholder in the OpenSplice install/HDE/x86_64.linux/release.com
Add the following line to your .bashrc file:
export RTI_LICENSE_FILE=path/to/rti_license.dat
You also need a Java runtime installed to run the RTI code generator:
sudo apt-get install openjdk-7-jre
Choose one of the following options for RTI Connext.
These packages are not public due to pending license questions.
Download the three Debian packages of the latest release from https://github.com/osrf/rticonnextdds-src/releases and install them using dpkg -i.
Note, if you have trouble wget'ing those .deb files, remember you have to be logged in because it is a private repo for now.
Also add to your .bashrc export NDDSHOME=/usr
Install the packages provided by RTI - the Ubuntu 12.04 packages seem to work for us with Ubuntu 14.04.
Source the rti_set_bash_5.1.0 file to set the NDDSHOME environment variable.
You might want to use the sublime package to integrate with the ament build system: https://github.com/ament/sublime-ament
The ros1_bridge in it's current form requires 4Gb of free RAM to compile. If you don't have that amount of RAM available it's suggested to use AMENT_IGNORE in that folder and skip it's compilation.
If you're running multiple instances on the same network you may get interference. To avoid this you can set the environment variable ROS_DOMAIN_ID to a different integer, the default is zero. This will define the DDS domain id for your system.
If you are using OpenSplice you will need to change the config file. It should be accessable via OSPL_URI in your environment. You can either edit the file in place or make a copy and update your environment variable to point to the new copy.
replace:
<Id>0</Id>
with:
<Id>${ROS_DOMAIN_ID}</Id>
In the debian packages this file is /usr/etc/opensplice/config/ospl.xml by default.
To do this quickly use the following
cp /usr/etc/opensplice/config/ospl.xml ~
sed -i 's|<Id>0</Id>|<Id>${ROS_DOMAIN_ID}</Id>|' ~/ospl.xml
echo export OSPL_URI=file://$HOME/ospl.xml >> ~/.bashrc
If you upgrade to CLT 10.10.3, you might get this error:
[100%] Building CXX object CMakeFiles/rmw_connext_cpp.dir/src/functions.cpp.o
In file included from /Users/william/ros2/src/ros2/rmw_connext/rmw_connext_cpp/src/functions.cpp:15:
In file included from /Library/Developer/CommandLineTools/usr/bin/../include/c++/v1/iostream:38:
In file included from /Library/Developer/CommandLineTools/usr/bin/../include/c++/v1/ios:216:
In file included from /Library/Developer/CommandLineTools/usr/bin/../include/c++/v1/__locale:15:
In file included from /Library/Developer/CommandLineTools/usr/bin/../include/c++/v1/string:439:
In file included from /Library/Developer/CommandLineTools/usr/bin/../include/c++/v1/algorithm:628:
In file included from /Library/Developer/CommandLineTools/usr/bin/../include/c++/v1/memory:604:
/Library/Developer/CommandLineTools/usr/bin/../include/c++/v1/iterator:341:10: fatal error: '__debug' file not found
#include <__debug>
^
1 error generated.
make[2]: *** [CMakeFiles/rmw_connext_cpp.dir/src/functions.cpp.o] Error 1
make[1]: *** [CMakeFiles/rmw_connext_cpp.dir/all] Error 2
make: *** [all] Error 2
I found this SO solution to work (http://stackoverflow.com/a/29576048/671658):
$ echo '#define _LIBCPP_ASSERT(x, m) ((void)0)' | sudo tee -a /Library/Developer/CommandLineTools/usr/include/c++/v1/__debug > /dev/null
It can be undone with:
$ sudo rm /Library/Developer/CommandLineTools/usr/include/c++/v1/__debug
If you have opencv installed you might get this:
dyld: Symbol not found: __cg_jpeg_resync_to_restart
Referenced from: /System/Library/Frameworks/ImageIO.framework/Versions/A/ImageIO
Expected in: /usr/local/lib/libJPEG.dylib
in /System/Library/Frameworks/ImageIO.framework/Versions/A/ImageIO
/bin/sh: line 1: 25274 Trace/BPT trap: 5 /usr/local/bin/cmake
If so, to build you'll have to do this:
$ brew unlink libpng libtiff libjpeg
But this will break opencv, so you'll also need to update it to continue working:
$ sudo install_name_tool -change /usr/local/lib/libjpeg.8.dylib /usr/local/opt/jpeg/lib/libjpeg.8.dylib /usr/local/lib/libopencv_highgui.2.4.dylib
$ sudo install_name_tool -change /usr/local/lib/libpng16.16.dylib /usr/local/Cellar/libpng/1.6.17/lib/libpng16.16.dylib /usr/local/lib/libopencv_highgui.2.4.dylib
$ sudo install_name_tool -change /usr/local/lib/libtiff.5.dylib /usr/local/Cellar/libtiff/4.0.4/lib/libtiff.5.dylib /usr/local/lib/libopencv_highgui.2.4.dylib
$ sudo install_name_tool -change /usr/local/lib/libjpeg.8.dylib /usr/local/opt/jpeg/lib/libjpeg.8.dylib /usr/local/Cellar/libtiff/4.0.4/lib/libtiff.5.dylib
The first command is necessary to avoid things built against the system libjpeg (etc.) from getting the version in /usr/local/lib. The others are updating things built by Homebrew so that they can find the version of libjpeg (etc.) without having them in /usr/local/lib.