ros 源碼安裝

版本lunar, 系統版本debian 9.8python

參考: http://wiki.ros.org/lunar/Installation/Sourcebootstrap


1. Installing bootstrap dependenciesbash

$ sudo apt-get install python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential

2. Initializing rosdepui

$ sudo rosdep init
$ rosdep update
 $ mkdir ~/ros_catkin_ws
$ cd ~/ros_catkin_ws

 2.1 Desktop-Full Install: ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perceptionspa

    $ rosinstall_generator desktop_full --rosdistro lunar --deps --tar > lunar-desktop-full.rosinstall
    $ wstool init -j8 src lunar-desktop-full.rosinstall

 
2.2 Desktop Install (recommended): ROS, rqt, rviz, and robot-generic librariesblog

    $ rosinstall_generator desktop --rosdistro lunar --deps --tar > lunar-desktop.rosinstall
    $ wstool init -j8 src lunar-desktop.rosinsta

 2.3 ROS-Comm: (Bare Bones) ROS package, build, and communication libraries. No GUI tools.ci

    $ rosinstall_generator ros_comm --rosdistro lunar --deps --tar > lunar-ros_comm.rosinstall
    $ wstool init -j8 src lunar-ros_comm.rosinstall

PS: If wstool init fails or is interrupted, you can resume the download by running:
 

3. Resolving Dependenciesget

$ rosdep install --from-paths src --ignore-src --rosdistro lunar -y

 
4. 編譯 Building the catkin Workspacegenerator

$ ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release

 
默認安裝在:
~/ros_catkin_ws/install_isolated
若是想改變安裝路徑:
 --install-space /opt/ros/lunar

5. qt

$ source ~/ros_catkin_ws/install_isolated/setup.bash
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