Difference between revisions of "Ros"

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(Clarified that current instructions are fuerte-only)
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[[Category:Mathematics and science]]
 
[[Category:Mathematics and science]]
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[[ja:Ros]]
 
[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.
 
[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.
  
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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== Installation Instructions ==
  
== Setup Notes - Fuerte ==
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=== Lunar ===
  
With Fuerte, 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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ROS Lunar is available in AUR packages and seems to be working quite nicely although it lacks some simulators of the {{AUR|ros-lunar-desktop-full}} package, the {{AUR|ros-lunar-desktop}} is complete and seems to have everything functional.
  
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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=== Kinetic ===
  
{{AUR|ros-core}}, available in the [[AUR]], is the package for the core libraries.
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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. That said, 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).
  
To build the higher level packages you will need to do some work:
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Packages are being added on an as-needed basis. Please send package requests to <aur AT seangreenslade DOT com>, and post any issues with the current packages in their respective AUR comments section.
  
# Install [[AUR]] packages: {{AUR|ros-on-arch}} {{AUR|pcl-ros}} {{AUR|swig-wx}} {{AUR|qhull-ros}}
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Note that catkin uses python2, and therefore catkin_make may fail unless it it explicitly pointed to the python2 install. To do so, add the following alias to your .bashrc (or equivalent):
# Pull the sources with {{ic|rosinstall}}
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# Patch the sources to compile with GCC 4.7 [https://code.ros.org/trac/ros-pkg/attachment/ticket/5417/ros.patch]
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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"
# Resolve dependencies with {{ic|rosdep}}
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# Build with {{ic|rosmake}}
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== Rebuild when Boost is updated ==
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When you update a library that ROS depends on, e.g. Boost, then you need to rebuild all the packages that link to it. You can determine which ROS packages depend on Boost with a command similar to the one below.
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export LANG=C;pacman -Qi boost | grep "Required By" | tr " " "\n" | grep -e "^ros"

Latest revision as of 13:06, 12 June 2017

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

Lunar

ROS Lunar is available in AUR packages and seems to be working quite nicely although it lacks some simulators of the ros-lunar-desktop-fullAUR package, the ros-lunar-desktopAUR is complete and seems to have everything functional.

Kinetic

Kinetic packages on the AUR are a work in progress. There are some issues regarding opencv3 that have not been fully resolved yet. That said, 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 send package requests to <aur AT seangreenslade DOT com>, and post any issues with the current packages in their respective AUR comments section.

Note that catkin uses python2, and therefore catkin_make may fail unless it it explicitly pointed to the python2 install. To do so, add the following alias to your .bashrc (or equivalent):

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

Rebuild when Boost is updated

When you update a library that ROS depends on, e.g. Boost, then you need to rebuild all the packages that link to it. You can determine which ROS packages depend on Boost with a command similar to the one below.

export LANG=C;pacman -Qi boost | grep "Required By" | tr " " "\n" | grep -e "^ros"