ubuntu 22.04源码装ros1 noetic

参考链接

https://gist.github.com/Meltwin/fe2c15a5d7e6a8795911907f627255e0

1. 安装依赖

sudo apt-get install python3-rosdep python3-rosinstall-generator python3-vcstools python3-vcstool build-essential

2. 更换rosdep相关的rep链接

参考：https://blog.csdn.net/zyh821351004/article/details/135519444?spm=1001.2014.3001.5501

mkdir -p ~/.ros/rosdep
cd ~/.ros/rosdep
~/.ros/rosdep$ git clone git@github.com:ros/rosdistro.git cat rosdep/sources.list.d/20-default.list
yaml file:///home/robot/.ros/rosdep/rosdistro/rosdep/osx-homebrew.yaml osx# generic
yaml file:///home/robot/.ros/rosdep/rosdistro/rosdep/base.yaml
yaml file:///home/robot/.ros/rosdep/rosdistro/rosdep/python.yaml
yaml file:///home/robot/.ros/rosdep/rosdistro/rosdep/ruby.yaml
gbpdistro file:///home/robot/.ros/rosdep/rosdistro/releases/fuerte.yaml fuerte# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead

sudo gedit /etc/ros/rosdep/sources.list.d/20-default.list

 
yaml file:///home/robot/.ros/rosdep/rosdistro/rosdep/osx-homebrew.yaml osx# generic
yaml file:///home/robot/.ros/rosdep/rosdistro/rosdep/base.yaml
yaml file:///home/robot/.ros/rosdep/rosdistro/rosdep/python.yaml
yaml file:///home/robot/.ros/rosdep/rosdistro/rosdep/ruby.yaml
gbpdistro file:///home/robot/.ros/rosdep/rosdistro/releases/fuerte.yaml fuerte# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead

sudo gedit /usr/lib/python3/dist-packages/rosdep2/sources_list.py

#DEFAULT_SOURCES_LIST_URL = 'https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list'
DEFAULT_SOURCES_LIST_URL = 'file:///home/robot/.ros/rosdep/rosdistro/rosdep/sources.list.d/20-default.list'

sudo gedit /usr/lib/python3/dist-packages/rosdep2/rep3.py

#REP3_TARGETS_URL = 'https://raw.githubusercontent.com/ros/rosdistro/master/releases/targets.yaml'
REP3_TARGETS_URL = 'file:///home/robot/.ros/rosdep/rosdistro/releases/targets.yaml'

sudo gedit /usr/lib/python3/dist-packages/rosdistro/init.py

#DEFAULT_INDEX_URL = 'https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml'
DEFAULT_INDEX_URL = 'file:///home/robot/.ros/rosdep/rosdistro/index-v4.yaml'

sudo rm /etc/ros/rosdep/sources.list.d/20-default.list 
sudo rosdep init
rosdep update

3. 安装 rosdep

sudo rosdep init
rosdep update

4. 创建工作空间下载源码并安装

mkdir ./noetic_ws
cd ./noetic_ws
rosinstall_generator desktop --rosdistro noetic --deps --tar > noetic-desktop.rosinstall
mkdir ./src
vcs import --input noetic-desktop.rosinstall ./srcrosdep install --from-paths ./src --ignore-packages-from-source --rosdistro noetic -y

等待下载完成
备份打包源码 csdn_下载：

noetic-desktop.rosinstall  noetic-base.rosinstall

noetic-desktop.rosinstall   737行类似：
- tar:local-name: actionlib/actionliburi: https://github.com/ros-gbp/actionlib-release/archive/release/noetic/actionlib/1.14.0-1.tar.gzversion: actionlib-release-release-noetic-actionlib-1.14.0-1
- tar:local-name: anglesuri: https://github.com/ros-gbp/geometry_angles_utils-release/archive/release/noetic/angles/1.9.13-1.tar.gzversion: geometry_angles_utils-release-release-noetic-angles-1.9.13-1

/opt/ros/noetic_ws/src$ ls
actionlib              metapackages           rqt_moveit
angles                 navigation_msgs        rqt_msg
bond_core              nodelet_core           rqt_nav_view
catkin                 pluginlib              rqt_plot
class_loader           python_qt_binding      rqt_pose_view
cmake_modules          qt_gui_core            rqt_publisher
common_msgs            qwt_dependency         rqt_py_console
common_tutorials       resource_retriever     rqt_reconfigure
control_msgs           robot_state_publisher  rqt_robot_dashboard
diagnostics            ros                    rqt_robot_monitor
dynamic_reconfigure    rosbag_migration_rule  rqt_robot_plugins
executive_smach        ros_comm               rqt_robot_steering
filters                ros_comm_msgs          rqt_runtime_monitor
gencpp                 rosconsole             rqt_rviz
geneus                 rosconsole_bridge      rqt_service_caller
genlisp                roscpp_core            rqt_shell
genmsg                 ros_environment        rqt_srv
gennodejs              roslint                rqt_tf_tree
genpy                  roslisp                rqt_top
geometry               rospack                rqt_topic
geometry2              ros_tutorials          rqt_web
geometry_tutorials     rqt                    rviz
gl_dependency          rqt_action             std_msgs
image_common           rqt_bag                urdf
interactive_markers    rqt_common_plugins     urdf_tutorial
joint_state_publisher  rqt_console            vision_opencv
kdl_parser             rqt_dep                visualization_tutorials
laser_geometry         rqt_graph              webkit_dependency
media_export           rqt_image_view         xacro
message_generation     rqt_launch
message_runtime        rqt_logger_level

5. 编译代码

./src/catkin/bin/catkin_make_isolated -DCMAKE_BUILD_TYPE=Release

会遇到一些列报错：

5.1 修复rosconsole* log相关问题error

用rosconsole_log4cxx.cpp里面的代码全部替换源代码src/rosconsole/src/rosconsole/impl/rosconsole_log4cxx.cpp

替代rosconsole_log4cxx.cpp
https://gist.github.com/kintzhao/3947142d3161e11e5a0c326b79e9ebdb### 5.2 qt5库相关的安装

sudo apt install  libqt5widgets5  qtcreator qtbase5-dev qt5-qmake cmake

5.3 python-sip配置相关

sudo apt install  sip-dev python3-sip-dev python3-pyqt5.sip
sudo apt install  python3-pyqt5.sip python3-pyqt5 pyqt5-dev 

5.4 std::share_mutex 相关 c++11 与c++17

下载 change_cpp.py 文件到ws路径下，change_cpp.py

import os
from colorama import Fore, StyleWANTED_WIDTH = 100
DISPLAY_WIDTH = min(WANTED_WIDTH, os.get_terminal_size().columns - 2)
print("┏" + "".center(DISPLAY_WIDTH, "━") + "┓")
print(f"┃{Fore.RED}" + "CMakeLists to C++17 Utils".center(DISPLAY_WIDTH, " ") + f"{Style.RESET_ALL}┃")
print(f"┃{Style.BRIGHT+ Fore.BLACK}" + "Meltwin - 2023".center(DISPLAY_WIDTH, " ") + f"{Style.RESET_ALL}┃")
print("┗" + "".center(DISPLAY_WIDTH, "━") + "┛")
print()REPLACE_FILTER = {"-std=c++11":"-std=c++17","COMPILER_SUPPORTS_CXX11": "COMPILER_SUPPORTS_CXX17","CMAKE_CXX_STANDARD 11": "CMAKE_CXX_STANDARD 17","CMAKE_CXX_STANDARD 14": "CMAKE_CXX_STANDARD 17"
}def fix_cmakelist(cmakelist_path: str) -> None:print(f"{Fore.YELLOW}▷ {Fore.RESET}Found {Fore.RED}{cmakelist_path}{Fore.RESET}", end=" ")with open(cmakelist_path, "r") as handle:data = handle.read()# Replacingchanged = Falsefor key, value in REPLACE_FILTER.items():if data.find(key) != -1:data = data.replace(key, value)changed = Trueif changed:with open(cmakelist_path, "w") as handle:handle.write(data)print(f"{Fore.GREEN}Fixed !" if changed else f"{Fore.BLUE}Nothing to change")def walk_dir(dir: str, depth = 0) -> None:if depth >=2:returnfor d in os.listdir(dir):cmakelist_path = f"{dir}/{d}/CMakeLists.txt"if not os.path.isfile(cmakelist_path):walk_dir(f"{dir}/{d}", depth+1)else :fix_cmakelist(cmakelist_path)if __name__ == "__main__":# Get all the CMakeLists.txtwalk_dir("./src")

将当前src目录下工程cmake中c++17方式的调整为c++11

  python3 change_cpp.py

5.5 opencv库的安装

 sudo apt install  libopencv-dev

5.6 assimp 库安装

 sudo apt install  libassimp-dev python3-pyassimp

5.7 ogre库的安装

sudo apt install  libogre-1.12-dev
sudo apt install  libogre1.12.10

5.8 ogre库中class Vector3 传统问题，

注释掉文件plant_flag_tool.h imu_visual.h 中的class Vector3 定义

gedit /opt/ros/noetic_ws/src/visualization_tutorials/rviz_plugin_tutorials/src/plant_flag_tool.hnamespace Ogre
{
class SceneNode;
//class Vector3;
}

gedit /opt/ros/noetic_ws/src/visualization_tutorials/rviz_plugin_tutorials/src/imu_visual.hnamespace Ogre
{
//class Vector3;
class Quaternion;
}

编译基本就可以通过了，一共184个包

<== Finished processing package [184 of 184]: 'xacro'

6. 安装版

当前路径安装 或 指定路径安装

./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release

sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/noetic