Difference between revisions of "Ros"

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(Setup Notes - Groovy: added note about yaourt install)
(Ros 2: Added build dependencies)
 
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[[Category:Mathematics and science]]
 
[[Category:Mathematics and science]]
 +
[[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.
  
== Setup Notes - Groovy ==
+
== Installation Instructions ==
  
Currently, groovy is the only (semi-)supported ROS release that has Arch packages. The core, comm, and robot variants have meta-packages that should install all the necessary packages: {{AUR|ros-groovy-ros}}, {{AUR|ros-groovy-ros-comm}}, (TODO: robot metapackage). In addition, {{AUR|ros-groovy-rviz}} (along with its dependencies) has a package. Beware, the dependency tree goes at least five levels deep at times. {{AUR|yaourt}} handles it (somewhat), {{AUR|packer}} falls flat. It is strongly recommended that you install {{AUR|ros-groovy-ros}} first to prevent yaourt's ridiculous dependency thrashing.
+
=== Lunar ===
  
The packages are all available in the maintainer's github: [https://github.com/zootboy/arch-ros-stacks arch-ros-stacks]. Not all packages there are in a working state, so use with caution. Please, report any issues with the packages on their respective AUR pages.
+
ROS Lunar is available in AUR packages and seems to be working quite nicely. The {{AUR|ros-lunar-desktop-full}} is complete and seems to have everything functional.
  
== Usage Notes - Groovy ==
+
=== Kinetic ===
  
Due to the fact that Ubuntu and Arch handle the python2/3 binary split differently, catkin_make[_isolated] will not work on its own. To use these commands, create the following aliases in your ~/.bashrc (or equivalent):
+
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, or use an [[AUR_helpers#Comparison_table|AUR helper]] that fully resolves dependency trees).
alias catkin_make='catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python2 -DPYTHON_INCLUDE_DIR=/usr/include/python2.7 -DPYTHON_LIBRARY=/usr/lib/libpython2.7.so'
 
alias catkin_make_isolated='catkin_make_isolated -DPYTHON_EXECUTABLE=/usr/bin/python2 -DPYTHON_INCLUDE_DIR=/usr/include/python2.7 -DPYTHON_LIBRARY=/usr/lib/libpython2.7.so'
 
  
Without these lines, cmake will default to python 3, which you don't want. It is also possible to simply add the defines into any call of catkin_make[_isolated] (which you have to do if you want to call those commands within a script).
+
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.
  
For further information on how to use ROS, see the [http://www.ros.org/wiki/ROS/Tutorials ROS Tutorials].
+
=== Configure the build tool ===
 +
 
 +
== catkin_make ==
 +
 
 +
Note that catkin uses python2, and therefore catkin_make may fail unless it is 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"
 +
 
 +
== catkin build ==
 +
 
 +
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"
 +
 
 +
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 ==
 +
=== Building from source ===
 +
 
 +
Build instructions are available at https://github.com/ros2/ros2/wiki/Linux-Development-Setup.
 +
 
 +
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:
 +
 
 +
$ 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 {{ic|roscore}}, {{ic|rosnode}}, {{ic|rostopic}}, {{ic|rosmsg}}, {{ic|rospack}}, {{ic|rosrun}} and {{ic|rosservice}} is available via {{ic|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

Latest revision as of 17:46, 19 December 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. The ros-lunar-desktop-fullAUR 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 (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, or use an AUR helper that fully resolves dependency trees).

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.

Configure the build tool

catkin_make

Note that catkin uses python2, and therefore catkin_make may fail unless it is 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"

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