ROS2 在WIN10下測試和安裝

博客參考：http://www.javashuo.com/article/p-eaehugoz-dn.html 和 http://www.javashuo.com/article/p-xnfloyrm-r.html

ROS2官方安裝引導： https://index.ros.org/doc/ros2/Installation/Crystal/Windows-Install-Binary/

TIPS: 設置choco後續軟件的安裝位置，能夠設置環境變量ChocolateyInstall，變量值爲安裝路徑便可。

首先建立桌面命令行快捷方式 -- 桌面右鍵新建一個快捷方式

 

C:\Windows\System32\cmd.exe /k "C:\Program Files (x86)\Microsoft Visual Studio\2017\Professional\Common7\Tools\VsDevCmd.bat" -arch=amd64 -host_arch=amd64

 

右鍵快捷方式，選擇高級選項，設置管理員權限運行

 

1. 安裝Chocolatey

 管理員權限打開命令行窗口，輸入以下指令便可完成Chocolatey的安裝，安裝目錄爲 C:\ProgramData\chocolatey\bin\chocolatey.exe

@"%SystemRoot%\System32\WindowsPowerShell\v1.0\powershell.exe" -NoProfile -InputFormat None -ExecutionPolicy Bypass -Command "iex ((New-Object System.Net.WebClient).DownloadString('https://chocolatey.org/install.ps1'))" && SET "PATH=%PATH%;%ALLUSERSPROFILE%\chocolatey\bin"

指令會將Chocolatey所在的安裝目錄設置爲全局路徑(C:\ProgramData\chocolatey\bin)，因此命令行輸入chocolatey 或者 choco -?會有相應的打印信息

2. Chocolatey 安裝python 

choco install python 

3. 安裝OpenSSL

Download an OpenSSL installer from this page. Scroll to the bottom of the page and download Win64 OpenSSL v1.0.2.不要下載Win32 or Light versions. 安裝好以後，設置換進變量信息

setx -m OPENSSL_CONF C:\OpenSSL-Win64\bin\openssl.cfg

Path中添加OpenSSL路徑信息

C:\OpenSSL-Win64\bin\

4. 安裝 Visual Studio

1. 安裝 VS2015, 若是使用Ardent or earlier

2. 安裝VS2017, 若是使用Bouncy or a nightly

Warning
Visual Studio 2017 v15.8 seems to have a compiler bug preventing from building some ROS 2 packages. Please try installing an older version of Visual Studio 2017.
Microsoft provides a free of charge version of Visual Studio 2017, named Community, which can be used to build applications that use ROS 2:
https://visualstudio.microsoft.com/downloads/
Make sure that the Visual C++ features are installed. An easy way to make sure they’re installed is to select the Desktop development with C++ workflow during the install.

5. 安裝DDS Implementations

ROS 2 builds on top of DDS. It is compatible with multiple DDS or RTPS (the DDS wire protocol) vendors.

The package you downloaded has been built with optional support for multiple vendors: eProsima FastRTPS, Adlink OpenSplice, and (as of ROS 2 Bouncy) RTI Connext as the middleware options. Run-time support for eProsima’s Fast RTPS is included bundled by default. If you would like to use one of the other vendors you will need to install their software separately.

Adlink OpenSplice¶

If you want to use OpenSplice, you will need to download the latest supported version. * For ROS 2 Crystal version 6.9.181126OSS-HDE-x86_64.win-vs2017 or later is required. * For ROS 2 Bouncy version 6.7.180404OSS-HDE-x86_64.win-vs2017 or later is required.

Download the latest supported version For ROS 2 releases up to and including Ardent, extract it but do not do anything else at this point. For ROS 2 releases later than Ardent, set the OSPL_HOME environment variable to the unpacked directory that contains the release.bat script.

RTI Connext¶

To use RTI Connext DDS there are options available for university, purchase or evaluation

After installing, run RTI launcher and point it to your license file.

Set the NDDSHOME environment variable:

set "NDDSHOME=C:\Program Files\rti_connext_dds-5.3.1"

RTI Connext須要註冊帳號，以後會將註冊使用的License發到郵箱，按照郵箱的Instruction安裝便可或者https://www.rti.com/free-trial/dds-files。

下載完成解壓以後，獲得以下文件

 

6. 安裝OpenCV

Some of the examples require OpenCV to be installed.

You can download a precompiled version of OpenCV 3.4.1 from https://github.com/ros2/ros2/releases/download/opencv-archives/opencv-3.4.1-vc15.VS2017.zip

Assuming you unpacked it to C:\opencv, type the following on a Command Prompt (requires Admin privileges):

setx -m OpenCV_DIR C:\opencv

Since you are using a precompiled ROS version, we have to tell it where to find the OpenCV libraries. You have to extend the PATH variable to c:\opencv\x64\vc15\bin

In ardent and earlier¶

These releases used OpenCV 2. You can download a precompiled version of OpenCV 2.4.13.2 from https://github.com/ros2/ros2/releases/download/release-beta2/opencv-2.4.13.2-vc14.VS2015.zip

Since you are using a precompiled ROS version, we have to tell it where to find the OpenCV libraries. Assuming you were extracting OpenCV to c:\ you have to extend your PATH variable to 

c:\opencv-2.4.13.2-vc14.VS2015\x64\vc14\bin

7. 安裝一些依賴

There are a few dependencies not available in the Chocolatey package database. In order to ease the manual installation process, we provide the necessary Chocolatey packages.

As some chocolatey packages rely on it, we start by installing CMake

choco install -y cmake

You will need to append the CMake bin folder C:\Program Files\CMake\bin to your PATH.

Please download these packages from this GitHub repository.

• asio.1.12.1.nupkg

• eigen-3.3.4.nupkg

• tinyxml-usestl.2.6.2.nupkg

• tinyxml2.6.0.0.nupkg

• log4cxx.0.10.0.nupkg

Once these packages are downloaded, open an administrative shell and execute the following command:

 choco install -y -s <PATH\TO\DOWNLOADS\> asio eigen tinyxml-usestl tinyxml2 log4cxx

Please replace <PATH\TO\DOWNLOADS> with the folder you downloaded the packages to.

You must also install some python dependencies for command-line tools:

python -m pip install -U catkin_pkg empy lark-parser opencv-python pyparsing pyyaml setuptools

RQt dependencies¶

python -m pip install -U pydot PyQt5

SROS2 dependencies¶

python -m pip install -U lxml

8. 下載ROS2

• Go the releases page: https://github.com/ros2/ros2/releases

• Download the latest package for Windows, e.g., ros2-package-windows-AMD64.zip.

  • Notes:

    • there may be more than one binary download option which might cause the file name to differ.

    • [ROS Bouncy only] To download the ROS 2 debug libraries you’ll need to download ros2-bouncy-windows-Debug-AMD64.zip

• Unpack the zip file somewhere (we’ll assume C:\dev\ros2).

  • Note (Ardent and earlier): There seems to be an issue where extracting the zip file with 7zip causes RViz to crash on startup. Extract the zip file using the Windows explorer to prevent this.

9. 設置ROS2運行環境

Start a command shell and source the ROS 2 setup file to set up the workspace:

call C:\dev\ros2\local_setup.bat

For ROS 2 releases up to and including Ardent, if you downloaded a release with OpenSplice support you must additionally source the OpenSplice setup file manually (this is done automatically for ROS 2 releases later than Ardent; this step can be skipped). It is normal that the previous command, if nothing else went wrong, outputs 「The system cannot find the path specified.」 exactly once. Only do this step after you have sourced the ROS 2 setup file:

call "C:\opensplice69\HDE\x86_64.win64\release.bat"

 10. Demo運行測試

In a command shell, set up the ROS 2 environment as described above and then run a talker:

ros2 run demo_nodes_cpp talker

Start another command shell and run a listener:

ros2 run demo_nodes_py listener

You should see the talker saying that it’s Publishing messages and the listener saying I heardthose messages. Hooray!

If you have installed support for an optional vendor, see this page for details on how to use that vendor.

Troubleshooting¶

• If at one point your example would not start because of missing dll’s, please verify that all libraries from external dependencies such as OpenCV are located inside your PATH variable.

• If you forget to call the local_setup.bat file from your terminal, the demo programs will most likely crash immediately.

Build your own packages¶

If you would like to build your own packages, refer to the tutorial "Using Colcon to build packages".

Questions

1. failed to create process

ros2 run demo_nodes_cpp talker

命令行窗口直接打印

failed to create process.

 解決方案參考： https://www.gitmemory.com/issue/ros2/ros2/525/490069329

ros2-script.py the first line (shebang line) demands that the script is run with C:\Python37\Python_d.exe

2. the ordinal 4689 could not be located in the dynamic link library fastrtps-1.7.dll

解決方法：libeay32.dll 和 ssleay32.dll to install\bin (OpenSSL內動態庫)

3. 更多問題查詢 https://github.com/ros2/ros2/issues

 

VS2017 編寫ROS2 參考博客 https://blog.csdn.net/zwwang2014/article/details/84839579