将ros功能包制作成deb格式发布

【ROS1总结】使用bloom-generat打包ROS包生成debian安装包 > 说明:<br><br> > 本文首发于 Playfish Blog,转载请保留链接。  前言 在之前的博客中,介绍了ROS包的编写,在本节中将讲述如何将之前写的ROS包打包成debian安装包形式,打包成debian安装包形式有很多,例如:   将ros包开源至github,利用ros自动生成到构建仓库(buildform)   在本地将ros包打包... 阅读详情

1.安装bloom
 sudo apt-get install python-bloom

2.将python文件制作成deb包

  1) 修改CMakeLists.txt:

FILE(GLOB openag_script_files "${CMAKE_CURRENT_SOURCE_DIR}/script/*.*") # This line #will give the variable, openag_script_files, value of each file in the scrip#t folder
FILE(GLOB openag_subdirectory_script_files "${CMAKE_CURRENT_SOURCE_DIR}/script/srv/*.*")
 #openag_script_file为目标文件   
   catkin_install_python(PROGRAMS
   ${openag_script_files}
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
# The following code block will install python file which in the openag_script_files to the destination folder
catkin_install_python(PROGRAMS
  ${openag_subdirectory_script_files}
  DESTINATION "${CATKIN_PACKAGE_BIN_DESTINATION}/srv")
或者执行以下操作:

install(PROGRAMS
  script/listener.py
  script/talker.py
  script/add_two_ints_client.py
  script/add_two_ints_server.py
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
# The installation destination of python executable file is ${CATKIN_PACKAGE_SHARE_DE#STINATION} which is /opt/ros/kinetic/lib/
#If after you install the deb, the rosrun can’t find the python executable. Then chan#ge this destination to ${CATKIN_PACKAGE_SHARE_DESTINATION} which will install in /op#t/ros/kinetic/share/
install(PROGRAMS
  script/srv/_AddTwoInts.py
  script/srv/__init__.py
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}/srv
)


     2)如果需要在安装过程中开放launch文件或include文件夹

install(DIRECTORY launch/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
  PATTERN ".svn" EXCLUDE)

      3)执行下面两条命令生成deb文件

$ bloom-generate rosdebian --os-name ubuntu --ros-distro indigo
$ fakeroot debian/rules binary


3.将C++文件制作成deb文件

     1)修改CMakeLists.txt

# Build executable, talker, from the talk.cpp source code file
add_executable(talker src/talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})
add_dependencies(talker beginner_tutorials_generate_messages_cpp)
 
add_executable(listener src/listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})
add_dependencies(listener beginner_tutorials_generate_messages_cpp)
 
add_executable(add_two_ints_server src/add_two_ints_server.cpp)
target_link_libraries(add_two_ints_server ${catkin_LIBRARIES})
add_dependencies(add_two_ints_server beginner_tutorials_gencpp)
 
add_executable(add_two_ints_client src/add_two_ints_client.cpp)
target_link_libraries(add_two_ints_client ${catkin_LIBRARIES})
add_dependencies(add_two_ints_client beginner_tutorials_gencpp) 
 
# Add executable files, talker, listener, add_two_ints_server and add_two_ints_clie#nt to the deb file, so we can install the deb files which contains the execut#able files.
 
install(TARGETS talker listener add_two_ints_server add_two_ints_client
        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
install(DIRECTORY launch/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
  PATTERN ".svn" EXCLUDE)

#install config yaml files
install(DIRECTORY config/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config
  PATTERN ".svn" EXCLUDE)

        2)执行以下命令

$ bloom-generate rosdebian --os-name ubuntu --ros-distro indigo
$ fakeroot debian/rules binary


4.安装deb文件

  在deb目录下执行:sudo dpkg -i *.deb

5.卸载

  sudo dpkg -r  ros-indigo-*即可

Reference:
[1]https://github.com/mikeferguson/buildbot-ros/blob/master/documentation/private_repositories.md  

[2]https://answers.ros.org/question/173804/generate-deb-from-ros-package/4

[3] https://blog.youkuaiyun.com/freeleons/article/details/78279563
 

Ubuntu下用deb包安装ROS 2 Jazzy的生产级部署指南 ROS 2 是面向机器人系统的中间件框架,基于DDS通信标准与模块化架构设计,具备实时性、可扩展性和跨平台特性。其核心原理在于通过RMW(ROS Middleware Interface)抽象层解耦应用逻辑与底层DDS实现,保障ABI稳定性与依赖可控性。技术价值体现在开箱即用的二进制分发、安全更新通道及工业级环境复现能力。典型应用场景包括AGV控制系统、自动驾驶仿真平台、嵌入式机器人节点部署等对可靠性与运维效率要求严苛的生产环境。本文聚焦Ubuntu系统下通过官方deb包安装ROS 2 Jazzy的完整实践 阅读详情

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ROS(Robot Operating System) 是一个开源的机器人操作系统,ROS系统是由大量节点组成,其中任何一个节点都可以通过发布/订阅的方式与其他节点进行通信。举个栗子,机器人上的一个位置传感器中的雷达单元就可以作为ROS的一个节点,其可以以信息流的方式发布雷达获取的信息,发布的信息可以被其他节点如导航单元、路径规划单元等获取,导航和路径规划单元等本身也是一个节点,同样以信息流的方式把各自获取的信息发布出去,供其它节点使用。本次是在Ubuntu 22.04系统上安装ros2的humble版..

小白典的博客 5637

使用Visual Studio Code 运行ROS

Visual Studio Code下载:https://code.visualstudio.com/docs?start=true Visual Studio Code 历史版本下载链接: https://code.visualstudio.com/updates 选择 .deb 64bit 2.vscode 安装与卸载 2.1 安装 方式1:双击安装即可(或右击选择安装) 方式2:sudo dpkg -i xxxx.deb sudo dpkg -i code_1.59.0-1628120042

꧁༺ʚvv༒catɞ༻꧂的博客 5829

ROS 教程——从入门到入土

本文档是B站视频配套笔记,视频地址:https://space.bilibili.com/411541289/channel/collectiondetail?sid=693700 笔记配套的 ROS 源码仓库地址:https://github.com/yym68686/ROS-Lab

yym68686 1万+

ROS: 如何通过网页访问机器人内部数据?

在机器人外部如果想要访问其内部数据,比如做一个数据面板,实时监控机器人的各项传感器数据和地图轨迹,甚至遥控运动,又该如何从 ROS 内部获取或者发送数据呢?

2301_76403635的博客 3102

VScode搭建ROS开发环境 2024

安装VSCode

1523

ROS1和ROS2原生支持的功能包apt安装deb格式的各有多少-从Indigo-Kinetic到Jazzy-Lyrical跨度12年以上完成一次生肖周期循环测试

摘要:本文系统分析了ROS1和ROS2的版本演进与生态变迁。数据显示,ROS1包量从Kinetic(2774个)峰值逐年下滑至Noetic(2042个),而ROS2在Jazzy(3206个)实现反超,反映了技术架构迭代趋势。作者通过12年(2014-2026)的跨版本实测,完整记录了从Indigo到Lyrical的生态演变,包括:1)ROS1因架构缺陷和官方战略转移导致的生态萎缩;2)ROS2凭借DDS架构和产业落地实现爆发增长;3)教学资源从ROS1向ROS2的整体迁移。研究揭示了开源机器人框架的代际更替

zhangrelay的专栏 1006
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