EC2でROS1,ROS2の環境を以前セットアップしたけど、やっぱり手元に欲しいなということでMacにROS2をインストールしましたが、動作させる環境がUbuntuなのでrEFIndでのデュアルブート、Parallelsと悩んだ末、USBにUbuntu18をインストールすれば、別のノート(MacBookPro)でも共有で使えるじゃんと思い、LiveUSBじゃなくて、USBにUbuntu18インストールして、そのUbuntuにROS2をインストール(ちゃんとUEFIの設定などしました)
MacBookで起動するUSBが意外と手間がかかったのは別で説明します。
今回はまっさらなUbuntuでROS2専用にするので、Pyenvは利用せず本当にマニュアル通りに実行
https://index.ros.org/doc/ros2/Installation/Crystal/Linux-Development-Setup/
sudo apt update && sudo apt install curl gnupg2 lsb-release curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add - sudo sh -c 'echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
ライブラリのインストール
sudo apt update && sudo apt install -y \ build-essential \ cmake \ git \ python3-colcon-common-extensions \ python3-lark-parser \ 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
ワークスペースの作成
mkdir -p ~/ros2_crystal/src cd ~/ros2_crystal wget https://raw.githubusercontent.com/ros2/ros2/crystal/ros2.repos vcs import src < ros2.repos rosdep update rosdep install --from-paths src --ignore-src --rosdistro crystal -y --skip-keys "console_bridge fastcdr fastrtps libopensplice67 libopensplice69 rti-connext-dds-5.3.1 urdfdom_headers" python3 -m pip install -U lark-parser
コードをビルドしたらエラー
colcon build --symlink-install CMake Error: The following variables are used in this project, but they are set to NOTFOUND. Please set them or make sure they are set and tested correctly in the CMake files: /home/dp/ros2/src/eProsima/Fast-RTPS/src/cpp/ASIO_INCLUDE_DIR used as include directory in directory /home/dp/ros2/src/eProsima/Fast-RTPS/src/cpp --- Failed <<< fastrtps [ Exited with code 1 ] [5.435s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'ament_pep257' doesn't explicitly install a marker in the package index (colcon-ros currently does it implicitly but that fallback will be removed in the future) [5.436s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'ament_pep257' doesn't explicitly install the 'package.xml' file (colcon-ros currently does it implicitly but that fallback will be removed in the future) [5.448s] WARNING:asyncio:Unknown child process pid 7474, will report returncode 255 Aborted <<< ament_cmake_core Aborted <<< ament_pep257 Aborted <<< ament_cppcheck Summary: 4 packages finished [5.43s] 1 package failed: fastrtps 3 packages aborted: ament_cmake_core ament_cppcheck ament_pep257 1 package had stderr output: fastrtps 225 packages not processed
依存ライブラリ(libasio-dev)が足りないらしい。
sudo apt install libasio-dev
ビルドが通りました。
colcon build --symlink-install しばらく待つ Starting >>> tf2_msgs [29min 39.6s] [140/233 complete] [4 ongoing] [rviz_ogre_vendor:build 74% - 25min 38.7s] [sensor_msgs:build 33% - 1min 56.1s] .