Difference between revisions of "ROS"

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[[Category:Mathematics and science]]
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[[Category:Science]]
{{i18n|Ros}}
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[[ja:ROS]]
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{{Archive|No updates since late 2017. As of September 2018, none of the ROS distributions can be built successfully.}}
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[http://www.ros.org ROS] is an open-source, meta-operating system for your robot. It provides the services you would expect from an operating system, including hardware abstraction, low-level device control, implementation of commonly-used functionality, message-passing between processes, and package management.
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== Installation Instructions ==
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 +
You can install any of the ROS distributions below since they are fully released on AUR.
 +
 
 +
Melodic {{AUR|ros-melodic-desktop-full}}
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Lunar {{AUR|ros-lunar-desktop-full}}
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== Older Versions (Not fully working) ==
 +
 
 +
=== Kinetic ===
 +
 
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Kinetic packages on the AUR are a work in progress. There are [https://github.com/bchretien/arch-ros-stacks/issues/57#issuecomment-228612399 some issues regarding opencv3] that have not been fully resolved yet (installing {{AUR|ros-kinetic-opencv3}} works, but is somewhat inefficient since it rebuilds opencv3). Currently, installing a metapackage such as {{AUR|ros-kinetic-ros-core}} or {{AUR|ros-kinetic-robot}} should bring in all required dependencies (see [https://paste.xinu.at/YXIz/] for the correct order).
 +
 
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Packages are being added on an as-needed basis. Please post any issues with the current packages in their respective AUR comments section.
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== catkin_make ==
 +
 
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Note that catkin uses python2, and therefore catkin_make may fail unless it explicitly uses python2. To do so, add the following alias to ~/.bashrc:
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alias catkin_make="catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python2 -DPYTHON_INCLUDE_DIR=/usr/include/python2.7 -DPYTHON_LIBRARY=/usr/lib/libpython2.7.so"
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 +
== catkin build ==
 +
 
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For configuring the systems using the {{ic|catkin build}} environment, one have to configure the catkin workspace as usual and issue a
 +
 
 +
catkin config -DPYTHON_EXECUTABLE=/usr/bin/python2 -DPYTHON_INCLUDE_DIR=/usr/include/python2.7 -DPYTHON_LIBRARY=/usr/lib/libpython2.7.so
 +
 
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Afterwards, use {{ic|catkin build}} as normal. Please remember to reconfigure your catkin whenever you delete the configuration files (i.e. the {{ic|catkin_ws}} directory)
 +
 
 +
== Rebuild when shared libraries are updated ==
 +
 
 +
When you update a library that ROS depends on (e.g. Boost), all packages that link to it must be rebuilt. Most AUR helpers will not detect this situation. The following script will generate a list of all packages that are linked to missing so files:
 +
 
 +
https://seangreenslade.com/h/snippets/ros-find-outofdate.py
 +
 
 +
(Note that the script requires {{pkg|pyalpm}} to be installed.)
 +
 
 +
== Ros 2 ==
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=== Building from source ===
 +
 
 +
Build instructions are available at https://github.com/ros2/ros2/wiki/Linux-Development-Setup.
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Install build dependencies: {{Pkg|wget}}, {{Pkg|python}}, {{Pkg|python-yaml}}, {{Pkg|python-setuptools}}, {{Pkg|git}}, {{Pkg|cmake}}, {{Pkg|asio}}, {{Pkg|tinyxml}}, {{Pkg|tinyxml2}}, {{Pkg|eigen}}, {{Pkg|libxaw}}, {{Pkg|glu}}, {{Pkg|qt5-base}}, {{Pkg|opencv}}, {{AUR|python-vcstool}}, {{AUR|python-empy}}.
 +
 
 +
Fetch the sources:
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 +
$ mkdir -p ~/ros2_ws/src
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$ cd ~/ros2_ws
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$ wget https://raw.githubusercontent.com/ros2/ros2/release-latest/ros2.repos
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$ vcs-import src < ros2.repos
  
[http://www.ros.org ROS] is an open-source, meta-operating system for your robot. It provides the services you would expect from an operating system, including hardware abstraction, low-level device control, implementation of commonly-used functionality, message-passing between processes, and package management.
+
Presently some fixes are required:
 +
 
 +
$ cd ~/ros2_ws/src/ros2/rviz/
 +
$ git remote add racko https://github.com/racko/rviz.git
 +
$ git fetch racko added_cmake_project_type fix_fallthrough fix_wrong_yaml_cpp
 +
$ git cherry-pick racko/added_cmake_project_type racko/fix_fallthrough racko/fix_wrong_yaml_cpp
 +
 
 +
Now you can build the workspace:
 +
 
 +
$ cd ~/ros2_ws
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$ src/ament/ament_tools/scripts/ament.py build --symlink-install
 +
 
 +
Read https://github.com/ros2/ros1_bridge/blob/master/README.md#build-the-bridge-from-source regarding Ros 1 / Ros 2 interoperability.
 +
 
 +
=== Usage Examples ===
 +
 
 +
First source the workspace:
 +
 
 +
$ . ~/ros2_ws/install/local_setup.bash
 +
 
 +
Functionality comparable to {{ic|roscore}}, {{ic|rosnode}}, {{ic|rostopic}}, {{ic|rosmsg}}, {{ic|rospack}}, {{ic|rosrun}} and {{ic|rosservice}} is available via {{ic|ros2}}:
 +
 
 +
$ ros2 -h
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usage: ros2 [-h] Call `ros2 <command> -h` for more detailed usage. ...
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 +
ros2 is an extensible command-line tool for ROS 2.
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 +
optional arguments:
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  -h, --help            show this help message and exit
 +
 +
Commands:
 +
  daemon    Various daemon related sub-commands
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  msg      Various msg related sub-commands
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  node      Various node related sub-commands
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  pkg      Various package related sub-commands
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  run      Run a package specific executable
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  security  Various security related sub-commands
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  service  Various service related sub-commands
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  srv      Various srv related sub-commands
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  topic    Various topic related sub-commands
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  Call `ros2 <command> -h` for more detailed usage.
 +
 
 +
A typical "Hello World" example starts with running a publisher node:
 +
 
 +
$ ros2 topic pub /chatter 'std_msgs/String' "data: 'Hello World'"
 +
 
 +
Then, in another terminal, you can run a subscriber (Don't forget to source the workspace in every new terminal):
  
With the ROS Fuerte release, it is much easier to get ROS running on an Arch system but still takes some effort. Read the notes below and then go to [http://www.ros.org/wiki/fuerte/Installation/Arch the installation page on the ROS website]
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$ ros2 topic echo /chatter
  
== Setup Notes ==
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List existing nodes:
  
With fuerte, there ROS is split into two levels. The core libraries are installed into the system folders ({{ic|/opt/ros/fuerte}}) while the higher-level stacks and packages are installed in the user folders.
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$ ros2 node list
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publisher_std_msgs_String
  
The Arch-specific install page lists the packages (official and AUR) that you will need to install for a full setup.
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List topics:
  
{{AUR|ros-core}}, available in the [[AUR]], is the package for the core libraries.
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$ ros2 topic list
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/chatter
  
To build the higher level packages you will need to do some work:
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Ros 2's version of rviz is
  
# Install [[AUR]] packages: {{AUR|ros-on-arch}} {{AUR|pcl-ros}} {{AUR|swig-wx}} {{AUR|qhull-ros}}
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$ rviz2
# Pull the sources with {{ic|rosinstall}}
 
# Patch the sources to compile with GCC 4.7 [https://code.ros.org/trac/ros-pkg/attachment/ticket/5417/ros.patch]
 
# Resolve dependencies with {{ic|rosdep}}
 
# Build with {{ic|rosmake}}
 

Latest revision as of 07:26, 20 October 2018

Gnome-colors-add-files-to-archive.pngThis article is being considered for archiving.Gnome-colors-add-files-to-archive.png

Reason: No updates since late 2017. As of September 2018, none of the ROS distributions can be built successfully. (Discuss in Talk:ROS#)

ROS is an open-source, meta-operating system for your robot. It provides the services you would expect from an operating system, including hardware abstraction, low-level device control, implementation of commonly-used functionality, message-passing between processes, and package management.

Installation Instructions

You can install any of the ROS distributions below since they are fully released on AUR.

Melodic ros-melodic-desktop-fullAUR

Lunar ros-lunar-desktop-fullAUR

Older Versions (Not fully working)

Kinetic

Kinetic packages on the AUR are a work in progress. There are some issues regarding opencv3 that have not been fully resolved yet (installing ros-kinetic-opencv3AUR works, but is somewhat inefficient since it rebuilds opencv3). Currently, installing a metapackage such as ros-kinetic-ros-coreAUR or ros-kinetic-robotAUR should bring in all required dependencies (see [1] for the correct order).

Packages are being added on an as-needed basis. Please post any issues with the current packages in their respective AUR comments section.

catkin_make

Note that catkin uses python2, and therefore catkin_make may fail unless it explicitly uses python2. To do so, add the following alias to ~/.bashrc:

alias catkin_make="catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python2 -DPYTHON_INCLUDE_DIR=/usr/include/python2.7 -DPYTHON_LIBRARY=/usr/lib/libpython2.7.so"

catkin build

For configuring the systems using the catkin build environment, one have to configure the catkin workspace as usual and issue a

catkin config -DPYTHON_EXECUTABLE=/usr/bin/python2 -DPYTHON_INCLUDE_DIR=/usr/include/python2.7 -DPYTHON_LIBRARY=/usr/lib/libpython2.7.so

Afterwards, use catkin build as normal. Please remember to reconfigure your catkin whenever you delete the configuration files (i.e. the catkin_ws directory)

Rebuild when shared libraries are updated

When you update a library that ROS depends on (e.g. Boost), all packages that link to it must be rebuilt. Most AUR helpers will not detect this situation. The following script will generate a list of all packages that are linked to missing so files:

https://seangreenslade.com/h/snippets/ros-find-outofdate.py

(Note that the script requires pyalpm to be installed.)

Ros 2

Building from source

Build instructions are available at https://github.com/ros2/ros2/wiki/Linux-Development-Setup.

Install build dependencies: wget, python, python-yaml, python-setuptools, git, cmake, asio, tinyxml, tinyxml2, eigen, libxaw, glu, qt5-base, opencv, python-vcstoolAUR, python-empyAUR.

Fetch the sources:

$ mkdir -p ~/ros2_ws/src
$ cd ~/ros2_ws
$ wget https://raw.githubusercontent.com/ros2/ros2/release-latest/ros2.repos
$ vcs-import src < ros2.repos

Presently some fixes are required:

$ cd ~/ros2_ws/src/ros2/rviz/
$ git remote add racko https://github.com/racko/rviz.git
$ git fetch racko added_cmake_project_type fix_fallthrough fix_wrong_yaml_cpp
$ git cherry-pick racko/added_cmake_project_type racko/fix_fallthrough racko/fix_wrong_yaml_cpp

Now you can build the workspace:

$ cd ~/ros2_ws
$ src/ament/ament_tools/scripts/ament.py build --symlink-install

Read https://github.com/ros2/ros1_bridge/blob/master/README.md#build-the-bridge-from-source regarding Ros 1 / Ros 2 interoperability.

Usage Examples

First source the workspace:

$ . ~/ros2_ws/install/local_setup.bash

Functionality comparable to roscore, rosnode, rostopic, rosmsg, rospack, rosrun and rosservice is available via ros2:

$ ros2 -h
usage: ros2 [-h] Call `ros2 <command> -h` for more detailed usage. ... 

ros2 is an extensible command-line tool for ROS 2.

optional arguments:
  -h, --help            show this help message and exit

Commands:
  daemon    Various daemon related sub-commands
  msg       Various msg related sub-commands
  node      Various node related sub-commands
  pkg       Various package related sub-commands
  run       Run a package specific executable
  security  Various security related sub-commands
  service   Various service related sub-commands
  srv       Various srv related sub-commands
  topic     Various topic related sub-commands

  Call `ros2 <command> -h` for more detailed usage.

A typical "Hello World" example starts with running a publisher node:

$ ros2 topic pub /chatter 'std_msgs/String' "data: 'Hello World'"

Then, in another terminal, you can run a subscriber (Don't forget to source the workspace in every new terminal):

$ ros2 topic echo /chatter

List existing nodes:

$ ros2 node list
publisher_std_msgs_String

List topics:

$ ros2 topic list
/chatter

Ros 2's version of rviz is

$ rviz2