在Ubuntu 18.04 LTS使用colcon工具编译ROS 1/2包

最新推荐文章于 2025-09-21 16:13:44 发布

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本文介绍ROS官方推荐的新一代编译工具colcon。作为命令行工具，colcon简化了多个软件包的编译、测试及使用流程，并实现自动化处理。文章详细展示了colcon的安装步骤与使用流程，同时提供了编译过程实例。

ROSwiki官网推荐了新的软件包编译工具colcon。ROS编译工具主要经历了三个阶段：

1. catkin 2. ament 3. colcon。

什么是colcon？

colcon is a command line tool to improve the workflow of building, testing and using multiple software packages.It automates the process, handles the ordering and sets up the environment to use the packages.

colcon是一个命令行工具，用于改进编译，测试和使用多个软件包的工作流程。它实现过程自动化，处理需求并设置环境以便于使用软件包。

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安装和使用，请参考：http://colcon.readthedocs.io/en/latest/index.html

下面简述流程：

一共两步：

1. sudo apt install python3-colcon-common-extensions

2. colcon build （source install/setup.bash ）

具体使用教程参考官网链接进行。

编译过程如下：

Starting >>> roscpp_tutorials
Starting >>> rospy_tutorials
Starting >>> turtlesim
--- stderr: rospy_tutorials                                                
CMake Warning:
  Manually-specified variables were not used by the project:

    CATKIN_INSTALL_INTO_PREFIX_ROOT


---
Finished <<< rospy_tutorials [16.41s]
--- stderr: turtlesim                                                      
CMake Warning:
  Manually-specified variables were not used by the project:

    CATKIN_INSTALL_INTO_PREFIX_ROOT


---
Finished <<< turtlesim [29.56s]
--- stderr: roscpp_tutorials                                  
CMake Warning:
  Manually-specified variables were not used by the project:

    CATKIN_INSTALL_INTO_PREFIX_ROOT


---
Finished <<< roscpp_tutorials [39.06s]
Starting >>> ros_tutorials
--- stderr: ros_tutorials                            
CMake Warning:
  Manually-specified variables were not used by the project:

    CATKIN_INSTALL_INTO_PREFIX_ROOT


---
Finished <<< ros_tutorials [2.63s]

Summary: 4 packages finished [42.15s]
  4 packages had stderr output: ros_tutorials roscpp_tutorials rospy_tutorials turtlesim

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