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ROS2入門教程-windows安裝ROS2

本文轉載自   查看原文   2019-08-28 21:46   1569 

ROS2入門教程-windows安裝ROS2

ROS2入門教程-windows安裝ROS2

說明：

  • 介紹怎么在視窗系統下安裝ROS2

系統要求

  • 建議使用win 10系統

安裝ROS2的前提准備

  • 1.安裝的巧克力

  • Chocolatey的相關下載鏈接：https：//chocolatey.org/

  • 2.通過Chocolatey安裝Python

  • 打開命令提示符，然后鍵入下面的命令：

choco install -y python

  • 3.安裝OpenSSL

  • 從下面提供的鏈接下載OpenSSL安裝程序。請下載Win64 OpenSSL v1.0.2，不要下載Win32或者Light版本。

  • OpenSSL的相關鏈接：https：//slproweb.com/products/Win32OpenSSL.html

  • 使用默認參數運行安裝程序。然后，定義環境變量（下面的命令假定使用了默認安裝目錄）：

setx -m OPENSSL_CONF C:\OpenSSL-Win64\bin\openssl.cfg

#Add C:\OpenSSL-Win64\bin\ to your PATH

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  • 7.安裝依賴項

  • 請從這個GitHub存儲庫下載這些軟件包。

    • asio.1.10.6.nupkg

    • 本征3.3.3.nupkg

    • TinyXML的-usestl.2.6.2.nupkg

    • tinyxml2.4.1.0.nupkg

  • 下載完成后，執行以下命令：

choco install -y -s <PATH\TO\DOWNLOADS\> asio eigen tinyxml-usestl tinyxml2

# <PATH\TO\DOWNLOADS>為已下載軟件包的文件夾的對應路徑
  • 您還必須安裝pip一個python包，yaml：
python -m pip install -U pyyaml setuptools

下載ROS2

  • ROS2的相關下載鏈接：https：//github.com/ros2/ros2/releases

  • 下載適用於Windows的最新軟件包，例如ros2-package-windows-AMD64.zip。

    • 注意：可能有多個二進制下載選項可能導致文件名不同。

  • 解壓縮zip文件（我們假設C:\dev\ros2）。

設置ROS2的環境

  • 執行以下命令以及source RO2的配置文件來設置工作空間
call C:\dev\ros2\local_setup.bat
  • 如果您下載了具有OpenSplice支持的版本並希望將其用作中間件，則必須另外獲取OpenSplice安裝文件。只有這樣after你才能獲得ROS 2：
call "C:\opensplice67\HDE\x86_64.win64\release.bat"

試試一些例子

  • 打開一個終端，執行以下命令：
ros2 run demo_nodes_cpp talker
  • 打開一個新終端，執行以下命令：
ros2 run demo_nodes_py listener
  • 運行結果圖如下：

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排除故障

  • 如果不能運行例子且出現缺少dll的報錯，請檢查前面安裝的外部依賴的所有的庫，例如：OpenCV的PATH環境變量是否設置正確

  • 如果前面在設置時忘記執行call C:\dev\ros2\local_setup.bat命令，則可能無法運行演示

參考鏈接

 

Installing ROS 2 on Windows

This page explains how to install ROS 2 on Windows from a pre-built binary package.

System requirements

As of beta-2 only Windows 10 is supported.

Installing prerequisites

Install Chocolatey

Chocolatey is a package manager for Windows, install it by following their installation instructions:

https://chocolatey.org/

You’ll use Chocolatey to install some other developer tools.

Install Python

Open a Command Prompt and type the following to install Python via Chocolatey:

> choco install -y python

Install OpenSSL

Download an OpenSSL installer from this page. Scroll to the bottom of the page and download Win64 OpenSSL v1.0.2. Don’t download the Win32 or Light versions.

Run the installer with default parameters. The following commands assume you used the default installation directory:

  • setx -m OPENSSL_CONF C:\OpenSSL-Win64\bin\openssl.cfg

You will need to append the OpenSSL-Win64 bin folder to your PATH. You can do this by clicking the Windows icon, typing “Environment Variables”, then clicking on “Edit the system environment variables”. In the resulting dialog, click “Environment Variables”, then click “Path” on the bottom pane, finally click “Edit” and add the path below.

  • C:\OpenSSL-Win64\bin\

Install Visual Studio

Install Visual Studio 2019.

If you already have a paid version of Visual Studio 2019 (Professional, Enterprise), skip this step.

Microsoft provides a free of charge version of Visual Studio 2019, named Community, which can be used to build applications that use ROS 2:

Make sure that the Visual C++ features are installed.

An easy way to make sure they’re installed is to select the Desktop development with C++ workflow during the install.

https://i.imgur.com/2h0IxCk.png

Make sure that no C++ CMake tools are installed by unselecting them in the list of components to be installed.

Install additional DDS implementations (optional)

ROS 2 builds on top of DDS. It is compatible with multiple DDS or RTPS (the DDS wire protocol) vendors.

The package you downloaded has been built with optional support for multiple vendors: eProsima FastRTPS, Adlink OpenSplice, and RTI Connext as the middleware options. Run-time support for eProsima’s Fast RTPS is included bundled by default. If you would like to use one of the other vendors you will need to install their software separately.

RTI Connext

To use RTI Connext DDS there are options available for university, purchase or evaluation

After installing, run RTI launcher and point it to your license file.

Set the NDDSHOME environment variable:

set "NDDSHOME=C:\Program Files\rti_connext_dds-5.3.1"

If you want to install the Connext DDS-Security plugins please refer to this page.

Install OpenCV

Some of the examples require OpenCV to be installed.

You can download a precompiled version of OpenCV 3.4.6 from https://github.com/ros2/ros2/releases/download/opencv-archives/opencv-3.4.6-vc16.VS2019.zip .

Assuming you unpacked it to C:\opencv, type the following on a Command Prompt (requires Admin privileges):

setx -m OpenCV_DIR C:\opencv

Since you are using a precompiled ROS version, we have to tell it where to find the OpenCV libraries. You have to extend the PATH variable to C:\opencv\x64\vc16\bin.

Install dependencies

There are a few dependencies not available in the Chocolatey package database. In order to ease the manual installation process, we provide the necessary Chocolatey packages.

As some chocolatey packages rely on it, we start by installing CMake

> choco install -y cmake

You will need to append the CMake bin folder C:\Program Files\CMake\bin to your PATH.

Please download these packages from this GitHub repository.

  • asio.1.12.1.nupkg

  • eigen-3.3.4.nupkg

  • tinyxml-usestl.2.6.2.nupkg

  • tinyxml2.6.0.0.nupkg

  • log4cxx.0.10.0.nupkg

Once these packages are downloaded, open an administrative shell and execute the following command:

> choco install -y -s <PATH\TO\DOWNLOADS\> asio eigen tinyxml-usestl tinyxml2 log4cxx

Please replace <PATH\TO\DOWNLOADS> with the folder you downloaded the packages to.

You must also install some python dependencies for command-line tools:

python -m pip install -U catkin_pkg empy lark-parser lxml numpy opencv-python pyparsing pyyaml setuptools

RQt dependencies

python -m pip install -U pydot PyQt5

Downloading ROS 2

Note

There may be more than one binary download option which might cause the file name to differ.

Note

To download the ROS 2 debug libraries you’ll need to download ros2-dashing-*-windows-debug-AMD64.zip

  • Unpack the zip file somewhere (we’ll assume C:\dev\ros2).

Set up the ROS 2 environment

Start a command shell and source the ROS 2 setup file to set up the workspace:

> call C:\dev\ros2\local_setup.bat

It is normal that the previous command, if nothing else went wrong, outputs “The system cannot find the path specified.” exactly once.

Try some examples

In a command shell, set up the ROS 2 environment as described above and then run a talker:

> ros2 run demo_nodes_cpp talker

Start another command shell and run a listener:

> ros2 run demo_nodes_py listener

You should see the talker saying that it’s Publishing messages and the listener saying I heardthose messages. Hooray!

If you have installed support for an optional vendor, see this page for details on how to use that vendor.

Troubleshooting

  • If at one point your example would not start because of missing dll’s, please verify that all libraries from external dependencies such as OpenCV are located inside your PATH variable.

  • If you forget to call the local_setup.bat file from your terminal, the demo programs will most likely crash immediately.

  • If you see an error related with FastRTPS failing to be loaded, see troubleshooting section in development install instructions.

Build your own packages

If you would like to build your own packages, refer to the tutorial "Using Colcon to build packages".


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