将ros功能包制作成deb格式发布

最新推荐文章于 2024-06-25 20:12:44 发布

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最新推荐文章于 2024-06-25 20:12:44 发布

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分类专栏：机器人操作系统 ros学习笔记篇

本文链接：https://blog.youkuaiyun.com/weixin_36607844/article/details/79963682

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本文介绍如何使用bloom工具将ROS包制作成DEB文件，并提供了详细的步骤指导，包括安装bloom、配置CMakeLists.txt文件以及生成并安装deb包的方法。

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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)

$ bloom-generate rosdebian --os-name ubuntu --ros-distro kinetic

$ 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)

2)执行以下命令

$ bloom-generate rosdebian --os-name ubuntu --ros-distro kinetic
$ 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 --purge ros-kinetic-(所需功能包名)

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