ROS2环境安装及搭建——零基础版

基于rk3588构建

1. 构建ros2环境

1. 添加ros2的apt仓库

sudo apt update && sudo apt install curl gnupg2 lsb-release
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg

2. 安装相关依赖工具

sudo apt install -y \
  build-essential \
  cmake \
  git \
  libbullet-dev \
  python3-colcon-common-extensions \
  python3-flake8 \
  python3-pip \
  python3-pytest-cov \
  python3-rosdep \
  python3-setuptools \
  python3-vcstool \
  wget



python3 -m pip install -U \
  argcomplete \
  flake8-blind-except \
  flake8-builtins \
  flake8-class-newline \
  flake8-comprehensions \
  flake8-deprecated \
  flake8-docstrings \
  flake8-import-order \
  flake8-quotes \
  pytest-repeat \
  pytest-rerunfailures \
  pytest

# install Fast-RTPS dependencies
sudo apt install --no-install-recommends -y \
  libasio-dev \
  libtinyxml2-dev
# install Cyclone DDS dependencies
sudo apt install --no-install-recommends -y \
  libcunit1-dev

#install all ros
sudo apt install ros-foxy-desktop

#only install ros base
sudo apt install ros-foxy-ros-base

2. ros2 demo测试

1. 更换为cyclonedds

# 更换dds为Cyclone DDS
sudo apt-get remove ros-foxy-fastrtps
# 如果使用共享内存通信，这里需要采用源码编译
# 源码编译参考：
sudo apt install ros-foxy-rmw-cyclonedds-cpp
# 启用Cyclone DDS
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# 查看当前ros环境变量
printenv | grep -i ROS

2. 运行demo

# 每个新终端需要先使能环境变量
source /opt/ros/foxy/setup.bash
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

# 运行talker
ros2 run demo_nodes_cpp talker

# 另一个终端运行listener
ros2 run demo_nodes_cpp listener

可以看到listener成功接收到talker发布的信息

# 另一个终端运行node list查看节点
ros2 node list
ros2 node info /listener

3. 问题解决

3.1 无法访问ros2官网

pips install rosdepc

国内无法访问ros2官网，改为使用清华镜像源来进行安装

3.2 证书校验失败

使用python3最新的证书

在~/.bashrc 中加入

export SSL_CERT_FILE=$(python3 -m certifi)

3.3 cmake版本较低

cd ~/Downloads  # 进入下载目录（可以根据实际需要选择）
wget https://cmake.org/files/v3.22/cmake-3.22.2.tar.gz  # 选择一个合适版本
tar -zxvf cmake-3.22.2.tar.gz
cd cmake-3.22.2
mkdir build
cd build
../configure
make -j8
sudo make install